GCC Code Coverage Report

Directory:	./
File:	unittest/liegroups.cpp
Date:	2025-02-12 21:03:38

	Exec	Total	Coverage
Lines:	424	426	99.5%
Branches:	1543	3025	51.0%

Line	Branch	Exec	Source
1			// Copyright (c) 2017-2020, CNRS INRIA
2			// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3			//
4
5			#include <iostream>
6			#include <iomanip>
7
8			#include "pinocchio/multibody/liegroup/liegroup.hpp"
9			#include "pinocchio/multibody/liegroup/liegroup-collection.hpp"
10			#include "pinocchio/multibody/liegroup/liegroup-generic.hpp"
11			#include "pinocchio/multibody/liegroup/cartesian-product-variant.hpp"
12
13			#include "pinocchio/multibody/joint/joint-generic.hpp"
14
15			#include <boost/test/unit_test.hpp>
16			#include <boost/utility/binary.hpp>
17			#include <boost/algorithm/string.hpp>
18			#include <boost/mpl/vector.hpp>
19
20			#define EIGEN_VECTOR_IS_APPROX(Va, Vb, precision) \
21			BOOST_CHECK_MESSAGE( \
22			(Va).isApprox(Vb, precision), "check " #Va ".isApprox(" #Vb ") failed " \
23			"[\n" \
24			<< (Va).transpose() << "\n!=\n" \
25			<< (Vb).transpose() << "\n]")
26			#define EIGEN_MATRIX_IS_APPROX(Va, Vb, precision) \
27			BOOST_CHECK_MESSAGE( \
28			(Va).isApprox(Vb, precision), "check " #Va ".isApprox(" #Vb ") failed " \
29			"[\n" \
30			<< (Va) << "\n!=\n" \
31			<< (Vb) << "\n]")
32
33			using namespace pinocchio;
34
35			#define VERBOSE false
36			#define IFVERBOSE if (VERBOSE)
37
38			namespace pinocchio
39			{
40			template<typename Derived>
41			std::ostream & operator<<(std::ostream & os, const LieGroupBase<Derived> & lg)
42			{
43			return os << lg.name();
44			}
45			template<typename LieGroupCollection>
46		✗	std::ostream & operator<<(std::ostream & os, const LieGroupGenericTpl<LieGroupCollection> & lg)
47			{
48		✗	return os << lg.name();
49			}
50			} // namespace pinocchio
51
52			template<typename T>
53		32640	void test_lie_group_methods(T & jmodel, typename T::JointDataDerived &)
54			{
55			typedef typename LieGroup<T>::type LieGroupType;
56			typedef double Scalar;
57
58		32640	const Scalar prec = Eigen::NumTraits<Scalar>::dummy_precision();
59	7/14 ✓ Branch 2 taken 16320 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 16320 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 16320 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 16320 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 16320 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 16320 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 16320 times. ✗ Branch 22 not taken.	32640	BOOST_TEST_MESSAGE("Testing Joint over " << jmodel.shortname());
60			typedef typename T::ConfigVector_t ConfigVector_t;
61			typedef typename T::TangentVector_t TangentVector_t;
62
63	3/6 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16320 times. ✗ Branch 8 not taken.	32640	ConfigVector_t q1(ConfigVector_t::Random(jmodel.nq()));
64	3/6 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16320 times. ✗ Branch 8 not taken.	32640	TangentVector_t q1_dot(TangentVector_t::Random(jmodel.nv()));
65	3/6 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16320 times. ✗ Branch 8 not taken.	32640	ConfigVector_t q2(ConfigVector_t::Random(jmodel.nq()));
66
67	6/12 ✓ Branch 0 taken 16 times. ✓ Branch 1 taken 16304 times. ✓ Branch 3 taken 16 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 16 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 16 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 16 times. ✗ Branch 13 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken.	32640	static ConfigVector_t Ones(ConfigVector_t::Ones(jmodel.nq()));
68		32640	const Scalar u = 0.3;
69			// pinocchio::Inertia::Matrix6 Ia(pinocchio::Inertia::Random().matrix());
70			// bool update_I = false;
71
72	3/6 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16320 times. ✗ Branch 8 not taken.	32640	q1 = LieGroupType().randomConfiguration(-Ones, Ones);
73	8/16 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 16320 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 16320 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 16320 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 16320 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 16320 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 16320 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 16320 times.	32640	BOOST_CHECK(LieGroupType().isNormalized(q1));
74
75	1/2 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken.	32640	typename T::JointDataDerived jdata = jmodel.createData();
76
77			// Check integrate
78	1/2 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken.	32640	jmodel.calc(jdata, q1, q1_dot);
79	1/2 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken.	32640	SE3 M1 = jdata.M;
80	1/2 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken.	32640	Motion v1(jdata.v);
81
82	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken.	32640	q2 = LieGroupType().integrate(q1, q1_dot);
83	8/16 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 16320 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 16320 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 16320 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 16320 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 16320 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 16320 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 16320 times.	32640	BOOST_CHECK(LieGroupType().isNormalized(q2));
84	1/2 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken.	32640	jmodel.calc(jdata, q2);
85	1/2 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken.	32640	SE3 M2 = jdata.M;
86
87		32640	double tol_test = 1e2;
88	3/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1020 times. ✓ Branch 6 taken 15300 times.	32640	if (jmodel.shortname() == "JointModelPlanar")
89		2040	tol_test = 5e4;
90
91	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken.	32640	const SE3 M2_exp = M1 * exp6(v1);
92
93	3/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 15300 times. ✓ Branch 6 taken 1020 times.	32640	if (jmodel.shortname() != "JointModelSphericalZYX")
94			{
95	9/18 ✓ Branch 1 taken 15300 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 15300 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 15300 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 15300 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 15300 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 15300 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 15300 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 15300 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 15300 times.	30600	BOOST_CHECK_MESSAGE(
96			M2.isApprox(M2_exp), std::string("Error when integrating1 " + jmodel.shortname()));
97			}
98
99			// Check integrate when the same vector is passed as input and output
100	3/6 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16320 times. ✗ Branch 8 not taken.	32640	ConfigVector_t qTest(ConfigVector_t::Random(jmodel.nq()));
101	3/6 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16320 times. ✗ Branch 8 not taken.	32640	TangentVector_t qTest_dot(TangentVector_t::Random(jmodel.nv()));
102	3/6 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16320 times. ✗ Branch 8 not taken.	32640	ConfigVector_t qResult(ConfigVector_t::Random(jmodel.nq()));
103	3/6 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16320 times. ✗ Branch 8 not taken.	32640	qTest = LieGroupType().randomConfiguration(-Ones, Ones);
104	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken.	32640	qResult = LieGroupType().integrate(qTest, qTest_dot);
105	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken.	32640	LieGroupType().integrate(qTest, qTest_dot, qTest);
106	10/20 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 16320 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 16320 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 16320 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 16320 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 16320 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 16320 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 16320 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 16320 times. ✗ Branch 30 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 16320 times.	32640	BOOST_CHECK_MESSAGE(
107			LieGroupType().isNormalized(qTest),
108			std::string(
109			"Normalization error when integrating with same input and output " + jmodel.shortname()));
110	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken.	32640	SE3 MTest, MResult;
111			{
112	1/2 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken.	32640	typename T::JointDataDerived jdata = jmodel.createData();
113	1/2 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken.	32640	jmodel.calc(jdata, qTest);
114	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11220 times. ✗ Branch 5 not taken.	32640	MTest = jdata.M;
115			}
116			{
117	1/2 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken.	32640	typename T::JointDataDerived jdata = jmodel.createData();
118	1/2 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken.	32640	jmodel.calc(jdata, qResult);
119	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11220 times. ✗ Branch 5 not taken.	32640	MResult = jdata.M;
120			}
121	9/18 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 16320 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 16320 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 16320 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 16320 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 16320 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 16320 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 16320 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 16320 times.	32640	BOOST_CHECK_MESSAGE(
122			MTest.isApprox(MResult),
123			std::string(
124			"Inconsistent value when integrating with same input and output " + jmodel.shortname()));
125
126	9/18 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 16320 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 16320 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 16320 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 16320 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 16320 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 16320 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 16320 times. ✗ Branch 26 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 16320 times.	32640	BOOST_CHECK_MESSAGE(
127			qTest.isApprox(qResult, prec),
128			std::string(
129			"Inconsistent value when integrating with same input and output " + jmodel.shortname()));
130
131			// Check the reversability of integrate
132	3/6 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16320 times. ✗ Branch 8 not taken.	32640	ConfigVector_t q3 = LieGroupType().integrate(q2, -q1_dot);
133	1/2 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken.	32640	jmodel.calc(jdata, q3);
134	1/2 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken.	32640	SE3 M3 = jdata.M;
135
136	9/18 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 16320 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 16320 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 16320 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 16320 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 16320 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 16320 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 16320 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 16320 times.	32640	BOOST_CHECK_MESSAGE(
137			M3.isApprox(M1), std::string("Error when integrating back " + jmodel.shortname()));
138
139			// Check interpolate
140	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken.	32640	ConfigVector_t q_interpolate = LieGroupType().interpolate(q1, q2, 0.);
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142			q_interpolate.isApprox(q1), std::string("Error when interpolating " + jmodel.shortname()));
143
144	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken.	32640	q_interpolate = LieGroupType().interpolate(q1, q2, 1.);
145	3/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1020 times. ✓ Branch 6 taken 15300 times.	32640	if (jmodel.shortname() == "JointModelPlanar") // TODO(jcarpent) fix precision loss for
146			// JointModelPlanar log operations
147	9/18 ✓ Branch 1 taken 1020 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1020 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1020 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1020 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1020 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1020 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1020 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1020 times. ✗ Branch 26 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1020 times.	2040	BOOST_CHECK_MESSAGE(
148			q_interpolate.isApprox(q2, 1e-8),
149			std::string("Error when interpolating " + jmodel.shortname()));
150			else
151	9/18 ✓ Branch 1 taken 15300 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 15300 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 15300 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 15300 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 15300 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 15300 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 15300 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 15300 times. ✗ Branch 26 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 15300 times.	30600	BOOST_CHECK_MESSAGE(
152			q_interpolate.isApprox(q2, 1e0 * prec),
153			std::string("Error when interpolating " + jmodel.shortname()));
154
155	3/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 15300 times. ✓ Branch 6 taken 1020 times.	32640	if (jmodel.shortname() != "JointModelSphericalZYX")
156			{
157	2/4 ✓ Branch 1 taken 15300 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 15300 times. ✗ Branch 5 not taken.	30600	q_interpolate = LieGroupType().interpolate(q1, q2, u);
158	1/2 ✓ Branch 1 taken 15300 times. ✗ Branch 2 not taken.	30600	jmodel.calc(jdata, q_interpolate);
159	1/2 ✓ Branch 1 taken 15300 times. ✗ Branch 2 not taken.	30600	SE3 M_interpolate = jdata.M;
160
161	3/6 ✓ Branch 1 taken 15300 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 15300 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 15300 times. ✗ Branch 8 not taken.	30600	SE3 M_interpolate_expected = M1 * exp6(u * v1);
162	9/18 ✓ Branch 1 taken 15300 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 15300 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 15300 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 15300 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 15300 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 15300 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 15300 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 15300 times. ✗ Branch 26 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 15300 times.	30600	BOOST_CHECK_MESSAGE(
163			M_interpolate_expected.isApprox(M_interpolate, 1e4 * prec),
164			std::string("Error when interpolating " + jmodel.shortname()));
165			}
166
167			// Check that difference between two equal configuration is exactly 0
168	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken.	32640	TangentVector_t zero = LieGroupType().difference(q1, q1);
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170			zero.isZero(), std::string("Error: difference between two equal configurations is not 0."));
171	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken.	32640	zero = LieGroupType().difference(q2, q2);
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173			zero.isZero(), std::string("Error: difference between two equal configurations is not 0."));
174
175			// Check difference
176			// TODO(jcarpent): check the increase of tolerance.
177
178	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken.	32640	TangentVector_t vdiff = LieGroupType().difference(q1, q2);
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180			vdiff.isApprox(q1_dot, tol_test * prec),
181			std::string("Error when differentiating " + jmodel.shortname()));
182
183			// Check distance
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187
188	1/2 ✓ Branch 2 taken 16320 times. ✗ Branch 3 not taken.	32640	std::string error_prefix("LieGroup");
189	3/6 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16320 times. ✗ Branch 8 not taken.	32640	error_prefix += " on joint " + jmodel.shortname();
190
191	8/16 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 16320 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 16320 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 16320 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 16320 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 16320 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 16320 times. ✗ Branch 23 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 16320 times.	32640	BOOST_CHECK_MESSAGE(jmodel.nq() == LieGroupType::NQ, std::string(error_prefix + " - nq "));
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193
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195			jmodel.nq() == LieGroupType().randomConfiguration(-1 * Ones, Ones).size(),
196			std::string(error_prefix + " - RandomConfiguration dimensions "));
197
198	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken.	32640	ConfigVector_t q_normalize(ConfigVector_t::Random());
199	1/2 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken.	32640	Eigen::VectorXd q_normalize_ref(q_normalize);
200	3/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1020 times. ✓ Branch 6 taken 15300 times.	32640	if (jmodel.shortname() == "JointModelSpherical")
201			{
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203			!LieGroupType().isNormalized(q_normalize_ref),
204			std::string(error_prefix + " - !isNormalized "));
205	2/4 ✓ Branch 1 taken 1020 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1020 times. ✗ Branch 5 not taken.	2040	q_normalize_ref /= q_normalize_ref.norm();
206			}
207	3/4 ✓ Branch 1 taken 15300 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1020 times. ✓ Branch 6 taken 14280 times.	30600	else if (jmodel.shortname() == "JointModelFreeFlyer")
208			{
209	9/18 ✓ Branch 1 taken 1020 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1020 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1020 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1020 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1020 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 1020 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1020 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1020 times. ✗ Branch 27 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1020 times.	2040	BOOST_CHECK_MESSAGE(
210			!LieGroupType().isNormalized(q_normalize_ref),
211			std::string(error_prefix + " - !isNormalized "));
212	4/8 ✓ Branch 1 taken 1020 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1020 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1020 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1020 times. ✗ Branch 11 not taken.	2040	q_normalize_ref.template tail<4>() /= q_normalize_ref.template tail<4>().norm();
213			}
214	4/6 ✓ Branch 2 taken 14280 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 14280 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 3060 times. ✓ Branch 10 taken 11220 times.	28560	else if (boost::algorithm::istarts_with(jmodel.shortname(), "JointModelRUB"))
215			{
216	9/18 ✓ Branch 1 taken 3060 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3060 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 3060 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 3060 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 3060 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 3060 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 3060 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 3060 times. ✗ Branch 27 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 3060 times.	6120	BOOST_CHECK_MESSAGE(
217			!LieGroupType().isNormalized(q_normalize_ref),
218			std::string(error_prefix + " - !isNormalized "));
219	2/4 ✓ Branch 1 taken 3060 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3060 times. ✗ Branch 5 not taken.	6120	q_normalize_ref /= q_normalize_ref.norm();
220			}
221	3/4 ✓ Branch 1 taken 11220 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1020 times. ✓ Branch 6 taken 10200 times.	22440	else if (jmodel.shortname() == "JointModelPlanar")
222			{
223	9/18 ✓ Branch 1 taken 1020 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1020 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1020 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1020 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1020 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 1020 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1020 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1020 times. ✗ Branch 27 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1020 times.	2040	BOOST_CHECK_MESSAGE(
224			!LieGroupType().isNormalized(q_normalize_ref),
225			std::string(error_prefix + " - !isNormalized "));
226	4/8 ✓ Branch 1 taken 1020 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1020 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1020 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1020 times. ✗ Branch 11 not taken.	2040	q_normalize_ref.template tail<2>() /= q_normalize_ref.template tail<2>().norm();
227			}
228	9/18 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 16320 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 16320 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 16320 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 16320 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 16320 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 16320 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 16320 times. ✗ Branch 27 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 16320 times.	32640	BOOST_CHECK_MESSAGE(
229			LieGroupType().isNormalized(q_normalize_ref), std::string(error_prefix + " - isNormalized "));
230	2/4 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16320 times. ✗ Branch 5 not taken.	32640	LieGroupType().normalize(q_normalize);
231	8/16 ✓ Branch 1 taken 16320 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 16320 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 16320 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 16320 times. ✗ Branch 14 not taken. ✓ Branch 17 taken 16320 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 16320 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 16320 times. ✗ Branch 24 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 16320 times.	32640	BOOST_CHECK_MESSAGE(
232			q_normalize.isApprox(q_normalize_ref), std::string(error_prefix + " - normalize "));
233		32640	}
234
235			struct TestJoint
236			{
237
238			template<typename JointModel, typename JointData>
239		640	static void run_tests(JointModel & jmodel, JointData & jdata)
240			{
241	2/2 ✓ Branch 0 taken 16320 times. ✓ Branch 1 taken 320 times.	33280	for (int i = 0; i <= 50; ++i)
242			{
243		32640	test_lie_group_methods(jmodel, jdata);
244			}
245		640	}
246
247			template<typename T>
248		560	void operator()(const T) const
249			{
250	1/2 ✓ Branch 1 taken 280 times. ✗ Branch 2 not taken.	560	T jmodel;
251	1/2 ✓ Branch 1 taken 280 times. ✗ Branch 2 not taken.	560	jmodel.setIndexes(0, 0, 0);
252	1/2 ✓ Branch 1 taken 280 times. ✗ Branch 2 not taken.	560	typename T::JointDataDerived jdata = jmodel.createData();
253
254	1/2 ✓ Branch 1 taken 280 times. ✗ Branch 2 not taken.	560	run_tests(jmodel, jdata);
255		560	}
256
257		20	void operator()(const pinocchio::JointModelRevoluteUnaligned &) const
258			{
259	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	pinocchio::JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
260	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	jmodel.setIndexes(0, 0, 0);
261	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	pinocchio::JointModelRevoluteUnaligned::JointDataDerived jdata = jmodel.createData();
262
263	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	run_tests(jmodel, jdata);
264		20	}
265
266		20	void operator()(const pinocchio::JointModelPrismaticUnaligned &) const
267			{
268	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	pinocchio::JointModelPrismaticUnaligned jmodel(1.5, 1., 0.);
269	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	jmodel.setIndexes(0, 0, 0);
270	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	pinocchio::JointModelPrismaticUnaligned::JointDataDerived jdata = jmodel.createData();
271
272	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	run_tests(jmodel, jdata);
273		20	}
274			};
275
276			struct LieGroup_Jdifference
277			{
278			template<typename T>
279		320	void operator()(const T) const
280			{
281			typedef typename T::ConfigVector_t ConfigVector_t;
282			typedef typename T::TangentVector_t TangentVector_t;
283			typedef typename T::JacobianMatrix_t JacobianMatrix_t;
284			typedef typename T::Scalar Scalar;
285
286	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	T lg;
287	6/12 ✓ Branch 2 taken 160 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 160 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 160 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 160 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 160 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 160 times. ✗ Branch 19 not taken.	320	BOOST_TEST_MESSAGE(lg.name());
288	6/8 ✓ Branch 1 taken 320 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 320 times. ✓ Branch 4 taken 160 times. ✓ Branch 6 taken 320 times. ✗ Branch 7 not taken. ✓ Branch 8 taken 320 times. ✓ Branch 9 taken 160 times.	1600	ConfigVector_t q[2], q_dv[2];
289	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	q[0] = lg.random();
290	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	q[1] = lg.random();
291			PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
292			PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
293	3/6 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 160 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 160 times. ✗ Branch 8 not taken.	320	TangentVector_t va, vb, dv;
294	3/4 ✓ Branch 1 taken 320 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 320 times. ✓ Branch 4 taken 160 times.	960	JacobianMatrix_t J[2];
295	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	dv.setZero();
296
297	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	lg.difference(q[0], q[1], va);
298	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	lg.template dDifference<ARG0>(q[0], q[1], J[0]);
299	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	lg.template dDifference<ARG1>(q[0], q[1], J[1]);
300
301		320	const Scalar eps = 1e-6;
302	2/2 ✓ Branch 0 taken 320 times. ✓ Branch 1 taken 160 times.	960	for (int k = 0; k < 2; ++k)
303			{
304	8/16 ✓ Branch 2 taken 320 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 320 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 320 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 320 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 320 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 320 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 320 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 320 times. ✗ Branch 25 not taken.	640	BOOST_TEST_MESSAGE("Checking J" << k << '\n' << J[k]);
305	1/2 ✓ Branch 1 taken 320 times. ✗ Branch 2 not taken.	640	q_dv[0] = q[0];
306	1/2 ✓ Branch 1 taken 320 times. ✗ Branch 2 not taken.	640	q_dv[1] = q[1];
307			// Check J[k]
308	2/2 ✓ Branch 1 taken 1000 times. ✓ Branch 2 taken 320 times.	2640	for (int i = 0; i < dv.size(); ++i)
309			{
310	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	dv[i] = eps;
311	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	lg.integrate(q[k], dv, q_dv[k]);
312	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	lg.difference(q_dv[0], q_dv[1], vb);
313
314			// vb - va ~ J[k] * dv
315	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	TangentVector_t J_dv = J[k].col(i);
316	3/6 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken.	2000	TangentVector_t vb_va = (vb - va) / eps;
317	13/26 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1000 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1000 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1000 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1000 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1000 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1000 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1000 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1000 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1000 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1000 times. ✗ Branch 38 not taken. ✗ Branch 46 not taken. ✓ Branch 47 taken 1000 times.	2000	EIGEN_VECTOR_IS_APPROX(vb_va, J_dv, 1e-2);
318	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	dv[i] = 0;
319			}
320			PINOCCHIO_COMPILER_DIAGNOSTIC_POP
321			}
322
323	2/4 ✓ Branch 1 taken 120 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 40 times. ✗ Branch 5 not taken.	320	specificTests(lg);
324		320	}
325
326			template<typename T>
327		240	void specificTests(const T) const
328			{
329		240	}
330
331			template<typename Scalar, int Options>
332		20	void specificTests(const SpecialEuclideanOperationTpl<3, Scalar, Options>) const
333			{
334
335		20	const Scalar prec = Eigen::NumTraits<Scalar>::dummy_precision();
336			typedef SE3Tpl<Scalar> SE3;
337			typedef SpecialEuclideanOperationTpl<3, Scalar, Options> LG_t;
338			typedef typename LG_t::ConfigVector_t ConfigVector_t;
339			typedef typename LG_t::JacobianMatrix_t JacobianMatrix_t;
340			typedef typename LG_t::ConstQuaternionMap_t ConstQuaternionMap_t;
341
342	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	LG_t lg;
343
344	3/4 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 40 times. ✓ Branch 4 taken 20 times.	60	ConfigVector_t q[2];
345	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	q[0] = lg.random();
346	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	q[1] = lg.random();
347
348	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken.	20	ConstQuaternionMap_t quat0(q[0].template tail<4>().data()),
349	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken.	20	quat1(q[1].template tail<4>().data());
350	3/4 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 40 times. ✓ Branch 4 taken 20 times.	60	JacobianMatrix_t J[2];
351
352	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	lg.template dDifference<ARG0>(q[0], q[1], J[0]);
353	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	lg.template dDifference<ARG1>(q[0], q[1], J[1]);
354
355	5/10 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 20 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 20 times. ✗ Branch 14 not taken.	20	SE3 om0(typename SE3::Quaternion(q[0].template tail<4>()).matrix(), q[0].template head<3>()),
356	5/10 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 20 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 20 times. ✗ Branch 14 not taken.	20	om1(typename SE3::Quaternion(q[1].template tail<4>()).matrix(), q[1].template head<3>()),
357	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	_1m2(om1.actInv(om0));
358	17/34 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 20 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 20 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 20 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 20 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 20 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 20 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 20 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 20 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 20 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 20 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 20 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 20 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 20 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 20 times. ✗ Branch 50 not taken. ✗ Branch 58 not taken. ✓ Branch 59 taken 20 times.	20	EIGEN_MATRIX_IS_APPROX(J[1] * _1m2.toActionMatrix(), -J[0], 1e-8);
359
360			// Test against SE3::Interpolate
361		20	const Scalar u = 0.3;
362	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	ConfigVector_t q_interp = lg.interpolate(q[0], q[1], u);
363	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken.	20	ConstQuaternionMap_t quat_interp(q_interp.template tail<4>().data());
364
365	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	SE3 M0(quat0, q[0].template head<3>());
366	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	SE3 M1(quat1, q[1].template head<3>());
367
368	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	SE3 M_u = SE3::Interpolate(M0, M1, u);
369	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	SE3 M_interp(quat_interp, q_interp.template head<3>());
370	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 20 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 20 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 20 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 20 times.	20	BOOST_CHECK(M_u.isApprox(M_interp, prec));
371		20	}
372
373			template<typename Scalar, int Options>
374		20	void specificTests(const CartesianProductOperation<
375			VectorSpaceOperationTpl<3, Scalar, Options>,
376			SpecialOrthogonalOperationTpl<3, Scalar, Options>>) const
377			{
378			typedef SE3Tpl<Scalar> SE3;
379			typedef CartesianProductOperation<
380			VectorSpaceOperationTpl<3, Scalar, Options>,
381			SpecialOrthogonalOperationTpl<3, Scalar, Options>>
382			LG_t;
383			typedef typename LG_t::ConfigVector_t ConfigVector_t;
384			typedef typename LG_t::JacobianMatrix_t JacobianMatrix_t;
385
386	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	LG_t lg;
387
388	3/4 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 40 times. ✓ Branch 4 taken 20 times.	60	ConfigVector_t q[2];
389	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	q[0] = lg.random();
390	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	q[1] = lg.random();
391	3/4 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 40 times. ✓ Branch 4 taken 20 times.	60	JacobianMatrix_t J[2];
392
393	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	lg.template dDifference<ARG0>(q[0], q[1], J[0]);
394	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	lg.template dDifference<ARG1>(q[0], q[1], J[1]);
395
396	3/6 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken.	20	typename SE3::Matrix3 oR0(typename SE3::Quaternion(q[0].template tail<4>()).matrix()),
397	3/6 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken.	20	oR1(typename SE3::Quaternion(q[1].template tail<4>()).matrix());
398	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	JacobianMatrix_t X(JacobianMatrix_t::Identity());
399	4/8 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 20 times. ✗ Branch 11 not taken.	20	X.template bottomRightCorner<3, 3>() = oR1.transpose() * oR0;
400	15/30 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 20 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 20 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 20 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 20 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 20 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 20 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 20 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 20 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 20 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 20 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 20 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 20 times. ✗ Branch 44 not taken. ✗ Branch 52 not taken. ✓ Branch 53 taken 20 times.	20	EIGEN_MATRIX_IS_APPROX(J[1] * X, -J[0], 1e-8);
401		20	}
402			};
403
404			template<bool around_identity>
405			struct LieGroup_Jintegrate
406			{
407			template<typename T>
408		336	void operator()(const T) const
409			{
410			typedef typename T::ConfigVector_t ConfigVector_t;
411			typedef typename T::TangentVector_t TangentVector_t;
412			typedef typename T::JacobianMatrix_t JacobianMatrix_t;
413			typedef typename T::Scalar Scalar;
414
415	1/2 ✓ Branch 1 taken 168 times. ✗ Branch 2 not taken.	336	T lg;
416	1/2 ✓ Branch 1 taken 168 times. ✗ Branch 2 not taken.	336	ConfigVector_t q = lg.random();
417	3/6 ✓ Branch 1 taken 168 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 168 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 168 times. ✗ Branch 8 not taken.	336	TangentVector_t v, dq, dv;
418			if (around_identity)
419	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	v.setZero();
420			else
421	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	v.setRandom();
422
423	1/2 ✓ Branch 1 taken 168 times. ✗ Branch 2 not taken.	336	dq.setZero();
424	1/2 ✓ Branch 1 taken 168 times. ✗ Branch 2 not taken.	336	dv.setZero();
425
426	1/2 ✓ Branch 1 taken 168 times. ✗ Branch 2 not taken.	336	ConfigVector_t q_v = lg.integrate(q, v);
427
428			PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
429			PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
430	2/4 ✓ Branch 1 taken 168 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 168 times. ✗ Branch 5 not taken.	336	JacobianMatrix_t Jq, Jv;
431	1/2 ✓ Branch 1 taken 168 times. ✗ Branch 2 not taken.	336	lg.dIntegrate_dq(q, v, Jq);
432	1/2 ✓ Branch 1 taken 168 times. ✗ Branch 2 not taken.	336	lg.dIntegrate_dv(q, v, Jv);
433			PINOCCHIO_COMPILER_DIAGNOSTIC_POP
434
435		336	const Scalar eps = 1e-6;
436	2/2 ✓ Branch 1 taken 525 times. ✓ Branch 2 taken 168 times.	1386	for (int i = 0; i < v.size(); ++i)
437			{
438	2/4 ✓ Branch 1 taken 525 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 525 times. ✗ Branch 5 not taken.	1050	dq[i] = dv[i] = eps;
439	1/2 ✓ Branch 1 taken 525 times. ✗ Branch 2 not taken.	1050	ConfigVector_t q_dq = lg.integrate(q, dq);
440
441	1/2 ✓ Branch 1 taken 525 times. ✗ Branch 2 not taken.	1050	ConfigVector_t q_dq_v = lg.integrate(q_dq, v);
442	2/4 ✓ Branch 1 taken 525 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 525 times. ✗ Branch 5 not taken.	1050	TangentVector_t Jq_dq = Jq.col(i);
443			// q_dv_v - q_v ~ Jq dv
444	3/6 ✓ Branch 1 taken 525 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 525 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 525 times. ✗ Branch 8 not taken.	1050	TangentVector_t dI_dq = lg.difference(q_v, q_dq_v) / eps;
445	13/26 ✓ Branch 1 taken 525 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 525 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 525 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 525 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 525 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 525 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 525 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 525 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 525 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 525 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 525 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 525 times. ✗ Branch 38 not taken. ✗ Branch 46 not taken. ✓ Branch 47 taken 525 times.	1050	EIGEN_VECTOR_IS_APPROX(dI_dq, Jq_dq, 1e-2);
446
447	3/6 ✓ Branch 1 taken 525 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 525 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 525 times. ✗ Branch 8 not taken.	1050	ConfigVector_t q_v_dv = lg.integrate(q, (v + dv).eval());
448	2/4 ✓ Branch 1 taken 525 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 525 times. ✗ Branch 5 not taken.	1050	TangentVector_t Jv_dv = Jv.col(i);
449			// q_v_dv - q_v ~ Jv dv
450	3/6 ✓ Branch 1 taken 525 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 525 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 525 times. ✗ Branch 8 not taken.	1050	TangentVector_t dI_dv = lg.difference(q_v, q_v_dv) / eps;
451	13/26 ✓ Branch 1 taken 525 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 525 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 525 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 525 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 525 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 525 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 525 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 525 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 525 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 525 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 525 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 525 times. ✗ Branch 38 not taken. ✗ Branch 46 not taken. ✓ Branch 47 taken 525 times.	1050	EIGEN_VECTOR_IS_APPROX(dI_dv, Jv_dv, 1e-2);
452
453	2/4 ✓ Branch 1 taken 525 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 525 times. ✗ Branch 5 not taken.	1050	dq[i] = dv[i] = 0;
454			}
455		336	}
456			};
457
458			struct LieGroup_JintegrateJdifference
459			{
460			template<typename T>
461		320	void operator()(const T) const
462			{
463			typedef typename T::ConfigVector_t ConfigVector_t;
464			typedef typename T::TangentVector_t TangentVector_t;
465			typedef typename T::JacobianMatrix_t JacobianMatrix_t;
466
467			PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
468			PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
469	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	T lg;
470	6/12 ✓ Branch 2 taken 160 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 160 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 160 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 160 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 160 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 160 times. ✗ Branch 19 not taken.	320	BOOST_TEST_MESSAGE(lg.name());
471	2/4 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 160 times. ✗ Branch 6 not taken.	320	ConfigVector_t qa, qb(lg.nq());
472	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	qa = lg.random();
473	1/2 ✓ Branch 2 taken 160 times. ✗ Branch 3 not taken.	320	TangentVector_t v(lg.nv());
474	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	v.setRandom();
475	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	lg.integrate(qa, v, qb);
476
477	2/4 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 160 times. ✗ Branch 5 not taken.	320	JacobianMatrix_t Jd_qb, Ji_v;
478
479	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	lg.template dDifference<ARG1>(qa, qb, Jd_qb);
480	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	lg.template dIntegrate<ARG1>(qa, v, Ji_v);
481			PINOCCHIO_COMPILER_DIAGNOSTIC_POP
482
483	17/34 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 160 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 160 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 160 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 160 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 160 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 160 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 160 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 160 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 160 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 160 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 160 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 160 times. ✗ Branch 41 not taken. ✓ Branch 44 taken 160 times. ✗ Branch 45 not taken. ✓ Branch 47 taken 160 times. ✗ Branch 48 not taken. ✓ Branch 50 taken 160 times. ✗ Branch 51 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 160 times.	320	BOOST_CHECK_MESSAGE(
484			(Jd_qb * Ji_v).isIdentity(), "Jd_qb\n"
485			<< Jd_qb << '\n'
486			<< "* Ji_v\n"
487			<< Ji_v << '\n'
488			<< "!= Identity\n"
489			<< Jd_qb * Ji_v << '\n');
490		320	}
491			};
492
493			struct LieGroup_dIntegrateTransport
494			{
495			template<typename T>
496		320	void operator()(const T) const
497			{
498			typedef typename T::ConfigVector_t ConfigVector_t;
499			typedef typename T::TangentVector_t TangentVector_t;
500			typedef typename T::JacobianMatrix_t JacobianMatrix_t;
501
502			PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
503			PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
504	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	T lg;
505	6/12 ✓ Branch 2 taken 160 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 160 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 160 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 160 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 160 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 160 times. ✗ Branch 19 not taken.	320	BOOST_TEST_MESSAGE(lg.name());
506	2/4 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 160 times. ✗ Branch 6 not taken.	320	ConfigVector_t qa, qb(lg.nq());
507	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	qa = lg.random();
508	4/8 ✓ Branch 2 taken 160 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 160 times. ✗ Branch 7 not taken. ✓ Branch 10 taken 160 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 160 times. ✗ Branch 15 not taken.	320	TangentVector_t v(lg.nv()), tvec_at_qb(lg.nv()), tvec_at_qa(lg.nv()), tvec_at_qa_r(lg.nv());
509	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	v.setRandom();
510	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	lg.integrate(qa, v, qb);
511
512			// transport random tangent vector from q1 to q0
513	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	tvec_at_qb.setRandom();
514	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	lg.dIntegrateTransport(qa, v, tvec_at_qb, tvec_at_qa, ARG0);
515
516			// test reverse direction
517	2/4 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 160 times. ✗ Branch 5 not taken.	320	TangentVector_t v_r = -v; // reverse path
518	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	ConfigVector_t qa_r = lg.integrate(qb, v_r);
519	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	lg.dIntegrateTransport(qa_r, v_r, tvec_at_qa, tvec_at_qa_r, ARG0);
520
521	7/14 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 160 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 160 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 160 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 160 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 160 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 160 times.	320	BOOST_CHECK_SMALL((qa - qa_r).norm(), 1e-6); // recover init point on manifold
522	7/14 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 160 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 160 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 160 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 160 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 160 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 160 times.	320	BOOST_CHECK_SMALL((tvec_at_qb - tvec_at_qa_r).norm(), 1e-6);
523
524			// same test for matrix
525	1/2 ✓ Branch 3 taken 160 times. ✗ Branch 4 not taken.	320	JacobianMatrix_t J_at_qa(lg.nv(), lg.nv());
526	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	J_at_qa.setRandom();
527	1/2 ✓ Branch 3 taken 160 times. ✗ Branch 4 not taken.	320	JacobianMatrix_t J_at_qb(lg.nv(), lg.nv());
528	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	lg.dIntegrateTransport(qa, v, J_at_qa, J_at_qb, ARG0);
529	1/2 ✓ Branch 3 taken 160 times. ✗ Branch 4 not taken.	320	JacobianMatrix_t J_at_qa_r(lg.nv(), lg.nv());
530	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	lg.dIntegrateTransport(qa_r, v_r, J_at_qb, J_at_qa_r, ARG0);
531
532	7/14 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 160 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 160 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 160 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 160 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 160 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 160 times.	320	BOOST_CHECK_SMALL((J_at_qa - J_at_qa_r).norm(), 1e-6);
533		320	}
534			};
535
536			struct LieGroup_JintegrateCoeffWise
537			{
538			template<typename T>
539		320	void operator()(const T) const
540			{
541			typedef typename T::ConfigVector_t ConfigVector_t;
542			typedef typename T::TangentVector_t TangentVector_t;
543			typedef typename T::Scalar Scalar;
544
545	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	T lg;
546	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	ConfigVector_t q = lg.random();
547	2/4 ✓ Branch 2 taken 160 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 160 times. ✗ Branch 6 not taken.	320	TangentVector_t dv(TangentVector_t::Zero(lg.nv()));
548
549	6/12 ✓ Branch 2 taken 160 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 160 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 160 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 160 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 160 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 160 times. ✗ Branch 19 not taken.	320	BOOST_TEST_MESSAGE(lg.name());
550			typedef Eigen::Matrix<Scalar, T::NQ, T::NV> JacobianCoeffs;
551	2/4 ✓ Branch 3 taken 160 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 160 times. ✗ Branch 7 not taken.	320	JacobianCoeffs Jintegrate(JacobianCoeffs::Zero(lg.nq(), lg.nv()));
552	1/2 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken.	320	lg.integrateCoeffWiseJacobian(q, Jintegrate);
553	2/4 ✓ Branch 3 taken 160 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 160 times. ✗ Branch 7 not taken.	320	JacobianCoeffs Jintegrate_fd(JacobianCoeffs::Zero(lg.nq(), lg.nv()));
554
555		320	const Scalar eps = 1e-8;
556	2/2 ✓ Branch 1 taken 500 times. ✓ Branch 2 taken 160 times.	1320	for (int i = 0; i < lg.nv(); ++i)
557			{
558	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	1000	dv[i] = eps;
559	2/4 ✓ Branch 2 taken 500 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 500 times. ✗ Branch 6 not taken.	1000	ConfigVector_t q_next(ConfigVector_t::Zero(lg.nq()));
560	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	1000	lg.integrate(q, dv, q_next);
561	4/8 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 500 times. ✗ Branch 11 not taken.	1000	Jintegrate_fd.col(i) = (q_next - q) / eps;
562
563	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	1000	dv[i] = 0;
564			}
565
566	11/22 ✓ Branch 1 taken 160 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 160 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 160 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 160 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 160 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 160 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 160 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 160 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 160 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 160 times. ✗ Branch 32 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 160 times.	320	EIGEN_MATRIX_IS_APPROX(Jintegrate, Jintegrate_fd, sqrt(eps));
567		320	}
568			};
569
570			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
571
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573			{
574			typedef boost::variant<
575			JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelSpherical,
576			JointModelSphericalZYX, JointModelPX, JointModelPY, JointModelPZ, JointModelPrismaticUnaligned,
577			JointModelFreeFlyer, JointModelPlanar, JointModelTranslation, JointModelRUBX, JointModelRUBY,
578			JointModelRUBZ>
579			Variant;
580	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (int i = 0; i < 20; ++i)
581		40	boost::mpl::for_each<Variant::types>(TestJoint());
582
583			// FIXME JointModelComposite does not work.
584			// boost::mpl::for_each<JointModelVariant::types>(TestJoint());
585		2	}
586
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588			{
589			typedef double Scalar;
590			enum
591			{
592			Options = 0
593			};
594
595			typedef boost::mpl::vector<
596			VectorSpaceOperationTpl<1, Scalar, Options>, VectorSpaceOperationTpl<2, Scalar, Options>,
597			SpecialOrthogonalOperationTpl<2, Scalar, Options>,
598			SpecialOrthogonalOperationTpl<3, Scalar, Options>,
599			SpecialEuclideanOperationTpl<2, Scalar, Options>,
600			SpecialEuclideanOperationTpl<3, Scalar, Options>,
601			CartesianProductOperation<
602			VectorSpaceOperationTpl<2, Scalar, Options>,
603			SpecialOrthogonalOperationTpl<2, Scalar, Options>>,
604			CartesianProductOperation<
605			VectorSpaceOperationTpl<3, Scalar, Options>,
606			SpecialOrthogonalOperationTpl<3, Scalar, Options>>>
607			Types;
608	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (int i = 0; i < 20; ++i)
609		40	boost::mpl::for_each<Types>(LieGroup_Jdifference());
610		2	}
611
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613			{
614			typedef double Scalar;
615			enum
616			{
617			Options = 0
618			};
619
620			typedef boost::mpl::vector<
621			VectorSpaceOperationTpl<1, Scalar, Options>, VectorSpaceOperationTpl<2, Scalar, Options>,
622			SpecialOrthogonalOperationTpl<2, Scalar, Options>,
623			SpecialOrthogonalOperationTpl<3, Scalar, Options>,
624			SpecialEuclideanOperationTpl<2, Scalar, Options>,
625			SpecialEuclideanOperationTpl<3, Scalar, Options>,
626			CartesianProductOperation<
627			VectorSpaceOperationTpl<2, Scalar, Options>,
628			SpecialOrthogonalOperationTpl<2, Scalar, Options>>,
629			CartesianProductOperation<
630			VectorSpaceOperationTpl<3, Scalar, Options>,
631			SpecialOrthogonalOperationTpl<3, Scalar, Options>>>
632			Types;
633	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (int i = 0; i < 20; ++i)
634		40	boost::mpl::for_each<Types>(LieGroup_dIntegrateTransport());
635		2	}
636
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638			{
639			typedef double Scalar;
640			enum
641			{
642			Options = 0
643			};
644
645			typedef boost::mpl::vector<
646			VectorSpaceOperationTpl<1, Scalar, Options>, VectorSpaceOperationTpl<2, Scalar, Options>,
647			SpecialOrthogonalOperationTpl<2, Scalar, Options>,
648			SpecialOrthogonalOperationTpl<3, Scalar, Options>,
649			SpecialEuclideanOperationTpl<2, Scalar, Options>,
650			SpecialEuclideanOperationTpl<3, Scalar, Options>,
651			CartesianProductOperation<
652			VectorSpaceOperationTpl<2, Scalar, Options>,
653			SpecialOrthogonalOperationTpl<2, Scalar, Options>>,
654			CartesianProductOperation<
655			VectorSpaceOperationTpl<3, Scalar, Options>,
656			SpecialOrthogonalOperationTpl<3, Scalar, Options>>>
657			Types;
658	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (int i = 0; i < 20; ++i)
659		40	boost::mpl::for_each<Types>(LieGroup_Jintegrate<false>());
660
661			// Around identity
662		2	boost::mpl::for_each<Types>(LieGroup_Jintegrate<true>());
663		2	}
664
665	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(Jintegrate_Jdifference)
666			{
667			typedef double Scalar;
668			enum
669			{
670			Options = 0
671			};
672
673			typedef boost::mpl::vector<
674			VectorSpaceOperationTpl<1, Scalar, Options>, VectorSpaceOperationTpl<2, Scalar, Options>,
675			SpecialOrthogonalOperationTpl<2, Scalar, Options>,
676			SpecialOrthogonalOperationTpl<3, Scalar, Options>,
677			SpecialEuclideanOperationTpl<2, Scalar, Options>,
678			SpecialEuclideanOperationTpl<3, Scalar, Options>,
679			CartesianProductOperation<
680			VectorSpaceOperationTpl<2, Scalar, Options>,
681			SpecialOrthogonalOperationTpl<2, Scalar, Options>>,
682			CartesianProductOperation<
683			VectorSpaceOperationTpl<3, Scalar, Options>,
684			SpecialOrthogonalOperationTpl<3, Scalar, Options>>>
685			Types;
686	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (int i = 0; i < 20; ++i)
687		40	boost::mpl::for_each<Types>(LieGroup_JintegrateJdifference());
688		2	}
689
690	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(JintegrateCoeffWise)
691			{
692			typedef double Scalar;
693			enum
694			{
695			Options = 0
696			};
697
698			typedef boost::mpl::vector<
699			VectorSpaceOperationTpl<1, Scalar, Options>, VectorSpaceOperationTpl<2, Scalar, Options>,
700			SpecialOrthogonalOperationTpl<2, Scalar, Options>,
701			SpecialOrthogonalOperationTpl<3, Scalar, Options>,
702			SpecialEuclideanOperationTpl<2, Scalar, Options>,
703			SpecialEuclideanOperationTpl<3, Scalar, Options>,
704			CartesianProductOperation<
705			VectorSpaceOperationTpl<2, Scalar, Options>,
706			SpecialOrthogonalOperationTpl<2, Scalar, Options>>,
707			CartesianProductOperation<
708			VectorSpaceOperationTpl<3, Scalar, Options>,
709			SpecialOrthogonalOperationTpl<3, Scalar, Options>>>
710			Types;
711	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (int i = 0; i < 20; ++i)
712		40	boost::mpl::for_each<Types>(LieGroup_JintegrateCoeffWise());
713
714			{
715			typedef SpecialEuclideanOperationTpl<3, Scalar, Options> LieGroup;
716			typedef LieGroup::ConfigVector_t ConfigVector_t;
717	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LieGroup lg;
718
719	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConfigVector_t q = lg.random();
720			// TangentVector_t dv(TangentVector_t::Zero(lg.nv()));
721
722			typedef Eigen::Matrix<Scalar, LieGroup::NQ, LieGroup::NV> JacobianCoeffs;
723	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	JacobianCoeffs Jintegrate(JacobianCoeffs::Zero(lg.nq(), lg.nv()));
724	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	lg.integrateCoeffWiseJacobian(q, Jintegrate);
725			}
726		2	}
727
728	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_vector_space)
729			{
730			typedef VectorSpaceOperationTpl<3, double> VSO_t;
731	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VSO_t::ConfigVector_t q,
732	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	lo(VSO_t::ConfigVector_t::Constant(-std::numeric_limits<double>::infinity())),
733			// lo(VSO_t::ConfigVector_t::Constant( 0)),
734			// up(VSO_t::ConfigVector_t::Constant( std::numeric_limits<double>::infinity()));
735	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	up(VSO_t::ConfigVector_t::Constant(0));
736
737		2	bool error = false;
738			try
739			{
740	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✗ Branch 4 not taken. ✓ Branch 5 taken 1 times.	2	VSO_t().randomConfiguration(lo, up, q);
741			}
742	1/2 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times.	2	catch (const std::runtime_error &)
743			{
744		2	error = true;
745		2	}
746	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_MESSAGE(error, "Random configuration between infinite bounds should return an error");
747		2	}
748
749	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_size)
750			{
751			// R^1: neutral = [0]
752	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorSpaceOperationTpl<1, double> vs1;
753	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd neutral;
754	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.resize(1);
755	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.setZero();
756	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(vs1.nq() == 1);
757	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(vs1.nv() == 1);
758	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(vs1.name() == "R^1");
759	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(vs1.neutral() == neutral);
760			// R^2: neutral = [0, 0]
761	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorSpaceOperationTpl<2, double> vs2;
762	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.resize(2);
763	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.setZero();
764	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(vs2.nq() == 2);
765	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(vs2.nv() == 2);
766	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(vs2.name() == "R^2");
767	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(vs2.neutral() == neutral);
768			// R^3: neutral = [0, 0, 0]
769	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorSpaceOperationTpl<3, double> vs3;
770	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.resize(3);
771	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.setZero();
772	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(vs3.nq() == 3);
773	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(vs3.nv() == 3);
774	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(vs3.name() == "R^3");
775	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(vs3.neutral() == neutral);
776			// SO(2): neutral = [1, 0]
777	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SpecialOrthogonalOperationTpl<2, double> so2;
778	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.resize(2);
779	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral[0] = 1;
780	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral[1] = 0;
781	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(so2.nq() == 2);
782	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(so2.nv() == 1);
783	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(so2.name() == "SO(2)");
784	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(so2.neutral() == neutral);
785			// SO(3): neutral = [0, 0, 0, 1]
786	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SpecialOrthogonalOperationTpl<3, double> so3;
787	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.resize(4);
788	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.setZero();
789	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral[3] = 1;
790	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(so3.nq() == 4);
791	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(so3.nv() == 3);
792	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(so3.name() == "SO(3)");
793	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(so3.neutral() == neutral);
794			// SE(2): neutral = [0, 0, 1, 0]
795	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SpecialEuclideanOperationTpl<2, double> se2;
796	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.resize(4);
797	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.setZero();
798	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral[2] = 1;
799	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(se2.nq() == 4);
800	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(se2.nv() == 3);
801	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(se2.name() == "SE(2)");
802	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(se2.neutral() == neutral);
803			// SE(3): neutral = [0, 0, 0, 0, 0, 0, 1]
804	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SpecialEuclideanOperationTpl<3, double> se3;
805	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.resize(7);
806	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.setZero();
807	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral[6] = 1;
808	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(se3.nq() == 7);
809	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(se3.nv() == 6);
810	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(se3.name() == "SE(3)");
811	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(se3.neutral() == neutral);
812			// R^2 x SO(2): neutral = [0, 0, 1, 0]
813			CartesianProductOperation<
814			VectorSpaceOperationTpl<2, double>, SpecialOrthogonalOperationTpl<2, double>>
815	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	r2xso2;
816	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.resize(4);
817	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.setZero();
818	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral[2] = 1;
819	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(r2xso2.nq() == 4);
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821	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(r2xso2.name() == "R^2*SO(2)");
822	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(r2xso2.neutral() == neutral);
823			// R^3 x SO(3): neutral = [0, 0, 0, 0, 0, 0, 1]
824			CartesianProductOperation<
825			VectorSpaceOperationTpl<3, double>, SpecialOrthogonalOperationTpl<3, double>>
826	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	r3xso3;
827	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.resize(7);
828	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral.setZero();
829	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral[6] = 1;
830	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(r3xso3.nq() == 7);
831	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(r3xso3.nv() == 6);
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833	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(r3xso3.neutral() == neutral);
834		2	}
835
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837			{
838		2	int dim = eval_set_dim<1, 1>::value;
839	5/10 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK(dim == 2);
840		2	dim = eval_set_dim<Eigen::Dynamic, 1>::value;
841	5/10 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK(dim == Eigen::Dynamic);
842		2	dim = eval_set_dim<1, Eigen::Dynamic>::value;
843	5/10 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK(dim == Eigen::Dynamic);
844		2	}
845
846	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(small_distance_test)
847			{
848	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SpecialOrthogonalOperationTpl<3, double> so3;
849	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Eigen::VectorXd q1(so3.nq());
850	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Eigen::VectorXd q2(so3.nq());
851	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	q1 << 0, 0, -0.1953711450011105244, 0.9807293794421349169;
852	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	q2 << 0, 0, -0.19537114500111049664, 0.98072937944213492244;
853
854	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_MESSAGE(so3.distance(q1, q2) > 0., "SO3 small distance - wrong results");
855		2	}
856
857			template<typename LieGroupCollection>
858			struct TestLieGroupVariantVisitor
859			{
860
861			typedef LieGroupGenericTpl<LieGroupCollection> LieGroupGeneric;
862			typedef typename LieGroupGeneric::ConfigVector_t ConfigVector_t;
863			typedef typename LieGroupGeneric::TangentVector_t TangentVector_t;
864
865			template<typename Derived>
866		16	void operator()(const LieGroupBase<Derived> & lg) const
867			{
868	1/2 ✓ Branch 2 taken 8 times. ✗ Branch 3 not taken.	16	LieGroupGenericTpl<LieGroupCollection> lg_generic(lg.derived());
869	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	test(lg, lg_generic);
870		16	}
871
872			template<typename Derived>
873			static void
874		16	test(const LieGroupBase<Derived> & lg, const LieGroupGenericTpl<LieGroupCollection> & lg_generic)
875			{
876	12/21 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 8 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 3 times. ✓ Branch 15 taken 5 times. ✗ Branch 16 not taken. ✓ Branch 17 taken 3 times. ✓ Branch 18 taken 5 times. ✗ Branch 19 not taken. ✓ Branch 20 taken 3 times. ✓ Branch 21 taken 5 times. ✗ Branch 22 not taken. ✓ Branch 23 taken 3 times. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 5 times. ✗ Branch 28 not taken. ✓ Branch 29 taken 3 times.	16	BOOST_CHECK(lg.nq() == nq(lg_generic));
877	12/21 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 8 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✓ Branch 15 taken 7 times. ✗ Branch 16 not taken. ✓ Branch 17 taken 1 times. ✓ Branch 18 taken 7 times. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times. ✓ Branch 21 taken 7 times. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 7 times. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	16	BOOST_CHECK(lg.nv() == nv(lg_generic));
878
879	8/16 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 8 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 8 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 8 times. ✗ Branch 18 not taken. ✓ Branch 21 taken 8 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 8 times. ✗ Branch 25 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 8 times.	16	BOOST_CHECK(lg.name() == name(lg_generic));
880
881	10/19 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 8 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 8 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 8 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 8 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 8 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 8 times. ✗ Branch 27 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 7 times. ✓ Branch 34 taken 1 times.	16	BOOST_CHECK(lg.neutral() == neutral(lg_generic));
882
883			typedef typename LieGroupGeneric::ConfigVector_t ConfigVectorGeneric;
884			typedef typename LieGroupGeneric::TangentVector_t TangentVectorGeneric;
885
886	2/4 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 7 times. ✗ Branch 5 not taken.	16	ConfigVector_t q0 = lg.random();
887	5/8 ✓ Branch 1 taken 1 times. ✓ Branch 2 taken 7 times. ✗ Branch 3 not taken. ✓ Branch 4 taken 1 times. ✓ Branch 5 taken 7 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	16	TangentVector_t v = TangentVector_t::Random(lg.nv());
888	3/5 ✓ Branch 1 taken 3 times. ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken.	16	ConfigVector_t qout_ref(lg.nq());
889	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	lg.integrate(q0, v, qout_ref);
890
891	3/5 ✓ Branch 1 taken 3 times. ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken.	16	ConfigVectorGeneric qout(lg.nq());
892	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	integrate(lg_generic, ConfigVectorGeneric(q0), TangentVectorGeneric(v), qout);
893	7/14 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 8 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 8 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 8 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 8 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 8 times.	16	BOOST_CHECK(qout.isApprox(qout_ref));
894
895	2/4 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken.	16	ConfigVector_t q1(nq(lg_generic));
896	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	random(lg_generic, q1);
897	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	difference(lg_generic, q0, q1, v);
898	7/14 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 8 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 8 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 8 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 8 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 8 times.	16	BOOST_CHECK_EQUAL(lg.distance(q0, q1), distance(lg_generic, q0, q1));
899
900	2/4 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken.	16	ConfigVector_t q2(nq(lg_generic));
901	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	random(lg_generic, q2);
902	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	normalize(lg_generic, q2);
903	7/14 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 8 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 8 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 8 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 8 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 8 times.	16	BOOST_CHECK(isNormalized(lg_generic, q2));
904		16	}
905			};
906
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908			{
909		2	boost::mpl::for_each<LieGroupCollectionDefault::LieGroupVariant::types>(
910			TestLieGroupVariantVisitor<LieGroupCollectionDefault>());
911		2	}
912
913			template<typename Lg1, typename Lg2>
914		1	void test_liegroup_variant_equal(Lg1 lg1, Lg2 lg2)
915			{
916			typedef LieGroupGenericTpl<LieGroupCollectionDefault> LieGroupGeneric;
917	5/10 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	1	BOOST_CHECK_EQUAL(LieGroupGeneric(lg1), LieGroupGeneric(lg2));
918		1	}
919
920			template<typename Lg1, typename Lg2>
921		1	void test_liegroup_variant_not_equal(Lg1 lg1, Lg2 lg2)
922			{
923			typedef LieGroupGenericTpl<LieGroupCollectionDefault> LieGroupGeneric;
924	5/10 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	1	BOOST_CHECK_PREDICATE(
925			std::not_equal_to<LieGroupGeneric>(), (LieGroupGeneric(lg1))(LieGroupGeneric(lg2)));
926		1	}
927
928	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_liegroup_variant_comparison)
929			{
930	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_liegroup_variant_equal(
931	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	VectorSpaceOperationTpl<1, double>(), VectorSpaceOperationTpl<Eigen::Dynamic, double>(1));
932	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_liegroup_variant_not_equal(
933	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	VectorSpaceOperationTpl<1, double>(), VectorSpaceOperationTpl<Eigen::Dynamic, double>(2));
934		2	}
935
936			BOOST_AUTO_TEST_SUITE_END()
937