GCC Code Coverage Report

Directory:	./
File:	unittest/mjcf.cpp
Date:	2024-08-27 18:20:05

	Exec	Total	Coverage
Lines:	481	491	98.0%
Branches:	2094	4186	50.0%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2024 CNRS INRIA
3			//
4
5			#include <iostream>
6			#include <cstdio> // for std::tmpnam
7
8			#include "pinocchio/multibody/model.hpp"
9
10			#include "pinocchio/parsers/mjcf.hpp"
11			#include "pinocchio/parsers/urdf.hpp"
12
13			#include "pinocchio/algorithm/joint-configuration.hpp"
14			#include "pinocchio/algorithm/frames.hpp"
15
16			#include "pinocchio/multibody/joint/joints.hpp"
17
18			#include <boost/test/unit_test.hpp>
19			#include <boost/filesystem/fstream.hpp>
20
21			namespace
22			{
23
24			struct TemporaryFileHolder
25			{
26		17	TemporaryFileHolder()
27	3/6 ✓ Branch 2 taken 17 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 17 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 17 times. ✗ Branch 9 not taken.	17	: path(boost::filesystem::temp_directory_path() / boost::filesystem::unique_path())
28			{
29		17	}
30
31		17	~TemporaryFileHolder()
32			{
33		17	boost::filesystem::remove(path);
34		17	}
35
36			TemporaryFileHolder(const TemporaryFileHolder &) = delete;
37			TemporaryFileHolder & operator=(const TemporaryFileHolder &) = delete;
38
39			TemporaryFileHolder(TemporaryFileHolder &&) = default;
40			TemporaryFileHolder & operator=(TemporaryFileHolder &&) = default;
41
42		18	std::string name() const
43			{
44		18	return path.string();
45			}
46
47			boost::filesystem::path path;
48			};
49
50			} // namespace
51
52		17	static TemporaryFileHolder createTempFile(const std::istringstream & data)
53			{
54	1/2 ✓ Branch 1 taken 17 times. ✗ Branch 2 not taken.	17	TemporaryFileHolder temp_file;
55
56			// Write the XML data to the temporary file
57	1/2 ✓ Branch 1 taken 17 times. ✗ Branch 2 not taken.	17	boost::filesystem::ofstream file_stream(temp_file.path);
58	2/4 ✓ Branch 1 taken 17 times. ✗ Branch 2 not taken. ✗ Branch 3 not taken. ✓ Branch 4 taken 17 times.	17	if (!file_stream)
59			{
60		✗	std::cerr << "Error opening file for writing" << std::endl;
61		✗	exit(EXIT_FAILURE);
62			}
63	2/4 ✓ Branch 1 taken 17 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 17 times. ✗ Branch 5 not taken.	17	file_stream << data.rdbuf();
64	1/2 ✓ Branch 1 taken 17 times. ✗ Branch 2 not taken.	17	file_stream.close();
65
66		34	return temp_file;
67		17	}
68
69		81	static bool comparePropertyTrees(
70			const boost::property_tree::ptree & pt1, const boost::property_tree::ptree & pt2)
71			{
72			// Check if the number of children is the same
73	1/2 ✗ Branch 2 not taken. ✓ Branch 3 taken 81 times.	81	if (pt1.size() != pt2.size())
74		✗	return false;
75
76			// Iterate over all children
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78			{
79			// Compare keys
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81		✗	return false;
82
83			// Compare values
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85		✗	return false;
86
87			// Recursively compare child trees
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89		✗	return false;
90			}
91
92		81	return true;
93			}
94
95			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
96
97			// /// @brief Test for the inertia conversion from mjcf to pinocchio inertia
98			// /// @param
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100			{
101			typedef pinocchio::SE3::Vector3 Vector3;
102			typedef pinocchio::SE3::Matrix3 Matrix3;
103			// Parse the XML
104			std::istringstream xmlData(R"(
105			<inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
106			fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
107	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	)");
108
109			// Create a Boost Property Tree
110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	boost::property_tree::ptree pt;
111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	boost::property_tree::read_xml(xmlData, pt);
112
113			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
115	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model);
116
117	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
118
119			// // Try to get the "name" element using get_optional
120	3/6 ✓ 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.	2	pinocchio::Inertia inertia = graph.convertInertiaFromMjcf(pt.get_child("inertial"));
121
122	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix3 inertia_matrix;
123			// M(1,1), M(2,2), M(3,3), M(1,2), M(1,3), M(2,3)
124	8/16 ✓ 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. ✓ 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 22 taken 1 times. ✗ Branch 23 not taken.	2	inertia_matrix << 0.00315, 8.2904e-7, 0.00015, 8.2904e-7, 0.00388, 8.2299e-6, 0.00015, 8.2299e-6,
125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	0.004285;
126
127	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Inertia real_inertia(0.629769, Vector3(-0.041018, -0.00014, 0.049974), inertia_matrix);
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129		2	}
130
131			// /// @brief Test for the inertia conversion from mjcf to pinocchio inertia
132			// /// @param
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134			{
135			typedef pinocchio::SE3::Vector3 Vector3;
136			typedef pinocchio::SE3::Matrix3 Matrix3;
137			// Parse the XML
138			std::istringstream xmlData(R"(
139			<inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
140			diaginertia="0.00315 0.00388 0.004285"/>
141	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	)");
142
143			// Create a Boost Property Tree
144	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	boost::property_tree::ptree pt;
145	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	boost::property_tree::read_xml(xmlData, pt);
146
147			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
148	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model);
150
151	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
152
153			// // Try to get the "name" element using get_optional
154	3/6 ✓ 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.	2	pinocchio::Inertia inertia = graph.convertInertiaFromMjcf(pt.get_child("inertial"));
155
156	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3 inertia_matrix = Eigen::Matrix3d::Zero();
157	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	inertia_matrix(0, 0) = 0.00315;
158	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	inertia_matrix(1, 1) = 0.00388;
159	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	inertia_matrix(2, 2) = 0.004285;
160	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Inertia real_inertia(0.629769, Vector3(-0.041018, -0.00014, 0.049974), inertia_matrix);
161
162	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(inertia.isApprox(real_inertia, 1e-7));
163		2	}
164
165			/// @brief Test for geometry computing
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167			{
168		2	double pi = boost::math::constants::pi<double>();
169			// Parse the XML
170			std::istringstream xmlData(R"(<mujoco model="inertiaFromGeom">
171			<compiler inertiafromgeom="true" />
172			<worldbody>
173			<body pos="0 0 0" name="bodyCylinder">
174			<geom type="cylinder" size=".01" fromto="0 0 0 0 0 .5"/>
175			<geom type="cylinder" size=".01 0.25" pos="0 0 0" quat="1 0 0 0"/>
176			<body pos="0 0 0" name="bodyBox">
177			<geom type="box" size=".01" fromto="0 0 0 0 0 .5"/>
178			<geom type="box" size=".01 0.01 0.25" pos="0 0 0" quat="1 0 0 0"/>
179			</body>
180			<body pos="0 0 0" name="bodyCapsule">
181			<geom type="capsule" size=".01" fromto="0 0 0 0 0 .5"/>
182			<geom type="capsule" size=".01 0.25" pos="0 0 0" quat="1 0 0 0"/>
183			</body>
184			<body pos="0 0 0" name="bodySphere">
185			<geom type="sphere" size=".01 0.25" pos="0 0 0" quat="1 0 0 0"/>
186			</body>
187			<body pos="0 0 0" name="bodyEllip">
188			<geom type="ellipsoid" size=".01" fromto="0 0 0 0 0 .5"/>
189			<geom type="ellipsoid" size=".01 0.01 0.25" pos="0 0 0" quat="1 0 0 0"/>
190			</body>
191			</body>
192			</worldbody>
193	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
194
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
196
197			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_m;
199	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model_m);
200
201	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
202	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	graph.parseGraphFromXML(namefile.name());
203
204			// Test Cylinder
205	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	pinocchio::mjcf::details::MjcfBody bodyTest = graph.mapOfBodies.at("bodyCylinder");
206		2	double mass = 1000 * std::pow(0.01, 2) * 0.25 * pi * 2;
207	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Inertia inertTest = pinocchio::Inertia::FromCylinder(mass, 0.01, 0.25 * 2);
208	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector2d sizeCy;
209	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	sizeCy << 0.01, 0.25;
210	2/2 ✓ Branch 5 taken 2 times. ✓ Branch 6 taken 1 times.	6	for (const auto & geom : bodyTest.geomChildren)
211			{
212			// Check size
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214			// Check inertia
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216			}
217			// Test Box
218	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	bodyTest = graph.mapOfBodies.at("bodyBox");
219		2	mass = 1000 * 0.02 * 0.02 * 0.5;
220	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	inertTest = pinocchio::Inertia::FromBox(mass, 0.02, 0.02, 0.5);
221	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector3d sizeB;
222	3/6 ✓ 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.	2	sizeB << 0.02, 0.02, .5;
223	2/2 ✓ Branch 5 taken 2 times. ✓ Branch 6 taken 1 times.	6	for (const auto & geom : bodyTest.geomChildren)
224			{
225			// Check size
226	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK(geom.size == sizeB);
227			// Check inertia
228	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 2 times.	4	BOOST_CHECK(geom.geomInertia.isApprox(inertTest));
229			}
230			// Test Capsule
231	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	bodyTest = graph.mapOfBodies.at("bodyCapsule");
232		2	mass = 1000 * (4.0 / 3 * pi * std::pow(0.01, 3) + 2 * pi * std::pow(0.01, 2) * 0.25);
233	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	inertTest = pinocchio::Inertia::FromCapsule(mass, 0.01, 0.25 * 2);
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector2d sizeCa;
235	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	sizeCa << 0.01, 0.25;
236	2/2 ✓ Branch 5 taken 2 times. ✓ Branch 6 taken 1 times.	6	for (const auto & geom : bodyTest.geomChildren)
237			{
238			// Check size
239	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK(geom.size == sizeCa);
240			// Check inertia
241	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 2 times.	4	BOOST_CHECK(geom.geomInertia.isApprox(inertTest));
242			}
243			// Test Sphere
244	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	bodyTest = graph.mapOfBodies.at("bodySphere");
245		2	mass = 1000 * 4.0 / 3 * pi * std::pow(0.01, 3);
246	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	inertTest = pinocchio::Inertia::FromSphere(mass, 0.01);
247	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd sizeS(1);
248	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sizeS << 0.01;
249	2/2 ✓ Branch 5 taken 1 times. ✓ Branch 6 taken 1 times.	4	for (const auto & geom : bodyTest.geomChildren)
250			{
251			// Check size
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253			// Check inertia
254	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(geom.geomInertia.isApprox(inertTest));
255			}
256			// Test Ellipsoid
257	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	bodyTest = graph.mapOfBodies.at("bodyEllip");
258		2	mass = 1000 * 4.0 / 3 * pi * 0.01 * 0.01 * 0.25;
259	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	inertTest = pinocchio::Inertia::FromEllipsoid(mass, 0.01, 0.01, 0.25);
260	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector3d sizeEl;
261	3/6 ✓ 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.	2	sizeEl << 0.01, 0.01, 0.25;
262	2/2 ✓ Branch 5 taken 2 times. ✓ Branch 6 taken 1 times.	6	for (const auto & geom : bodyTest.geomChildren)
263			{
264			// Check size
265	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK(geom.size == sizeEl);
266			// Check inertia
267	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 2 times.	4	BOOST_CHECK(geom.geomInertia.isApprox(inertTest));
268			}
269		2	}
270
271			/// @brief Test for computing inertia from geoms
272			/// @param
273	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(inertia_from_geom)
274			{
275			// Parse the XML
276			std::istringstream xmlData(R"(<mujoco model="inertiaFromGeom">
277			<compiler inertiafromgeom="true" />
278			<worldbody>
279			<body pos="0 0 0" name="body0">
280			<geom type="box" size=".01 .01 .01" pos="0 0 0.01"/>
281			<geom type="box" size=".01 .01 .01" pos="0 0 0.03"/>
282			</body>
283			</worldbody>
284	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
285
286	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
287
288			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
289	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_m;
290	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model_m);
291
292	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
293	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	graph.parseGraphFromXML(namefile.name());
294	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	graph.parseRootTree();
295
296			// only one inertias since only one body
297	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::Inertia inertBody = model_m.inertias[0];
298
299		2	double massBigBox = 1000 * 0.02 * 0.02 * 0.04; // density * volume
300	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Inertia inertBigBox = pinocchio::Inertia::FromBox(massBigBox, 0.02, 0.02, 0.04);
301			// Create a frame on the bottom face of BigBox and express inertia
302	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector3d pl;
303	3/6 ✓ 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.	2	pl << 0, 0, 0.02;
304	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::SE3 placementBigBox(Eigen::Matrix3d::Identity(), pl);
305	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	inertBigBox = placementBigBox.act(inertBigBox);
306
307	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(inertBigBox.isApprox(inertBody));
308		2	}
309
310			// /// @brief Test for the pose conversion from mjcf model to pinocchio
311			// /// @param
312	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(convert_orientation)
313			{
314			typedef pinocchio::SE3::Vector3 Vector3;
315			typedef pinocchio::SE3::Matrix3 Matrix3;
316
317			std::istringstream xmlData(R"(
318			<compiler angle="radian" eulerseq="xyz"/>
319			<quaternion pos="0.3 0.2 0.5" quat="1 -1 0 0"/>
320			<axis pos="0.3 0.2 0.5" axisangle="-1 0 0 1.5707963"/>
321			<euler pos="0.3 0.2 0.5" euler="-1.57079633 0 0"/>
322			<xyaxes pos="0.3 0.2 0.5" xyaxes="1 0 0 0 0 -1"/>
323			<zaxis pos="0.3 0.2 0.5" zaxis="0 1 0"/>
324	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	)");
325
326			// Create a Boost Property Tree
327	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	boost::property_tree::ptree pt;
328	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	boost::property_tree::read_xml(xmlData, pt);
329
330			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
331	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
332	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model);
333
334	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
335
336	3/6 ✓ 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.	2	graph.parseCompiler(pt.get_child("compiler"));
337
338	3/6 ✓ 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.	2	pinocchio::SE3 placement_q = graph.convertPosition(pt.get_child("quaternion"));
339	3/6 ✓ 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.	2	pinocchio::SE3 placement_a = graph.convertPosition(pt.get_child("axis"));
340	3/6 ✓ 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.	2	pinocchio::SE3 placement_e = graph.convertPosition(pt.get_child("euler"));
341	3/6 ✓ 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.	2	pinocchio::SE3 placement_xy = graph.convertPosition(pt.get_child("xyaxes"));
342	3/6 ✓ 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.	2	pinocchio::SE3 placement_z = graph.convertPosition(pt.get_child("zaxis"));
343
344	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix3 rotation_matrix;
345	9/18 ✓ 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. ✓ 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 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken.	2	rotation_matrix << 1., 0., 0., 0., 0., 1., 0., -1., 0.;
346
347	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::SE3 real_placement(rotation_matrix, Vector3(0.3, 0.2, 0.5));
348
349	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(placement_q.isApprox(real_placement, 1e-7));
350	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(placement_e.isApprox(real_placement, 1e-7));
351	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(placement_a.isApprox(real_placement, 1e-7));
352	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(placement_xy.isApprox(real_placement, 1e-7));
353	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(placement_z.isApprox(real_placement, 1e-7));
354		2	}
355
356			/// @brief Test if merging default classes works
357			/// @param
358	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(merge_default)
359			{
360			namespace pt = boost::property_tree;
361			std::istringstream xmlIn(R"(
362			<default>
363			<default class="mother">
364			<joint A="a0" B="b0" />
365			<geom A="a0" />
366			<default class="layer1">
367			<joint A="a1" C="c1" />
368			<default class="layer2">
369			<joint B="b2" />
370			<geom C="c2" />
371			</default>
372			</default>
373			<default class="layerP">
374			<joint K="b2" />
375			<site H="f1"/>
376			</default>
377			</default>
378	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</default>)");
379
380			// Create a Boost Property Tree
381	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pt::ptree ptr;
382	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pt::read_xml(xmlIn, ptr, pt::xml_parser::trim_whitespace);
383
384			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
385	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
386	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model);
387
388	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
389	3/6 ✓ 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.	2	graph.parseDefault(ptr.get_child("default"), ptr);
390
391		2	std::unordered_map<std::string, pt::ptree> TrueMap;
392
393			std::istringstream xml1(R"(<default class="mother">
394			<joint A="a0" B="b0" />
395			<geom A="a0" />
396			<default class="layer1">
397			<joint A="a1" C="c1" />
398			<default class="layer2">
399			<joint B="b2" />
400			<geom C="c2" />
401			</default>
402			</default>
403			<default class="layerP">
404			<joint K="b2" />
405			<site H="f1"/>
406			</default>
407	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</default>)");
408	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pt::ptree p1;
409	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pt::read_xml(xml1, p1, pt::xml_parser::trim_whitespace);
410	11/22 ✓ 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 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 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 41 not taken. ✓ Branch 42 taken 1 times.	2	BOOST_CHECK(
411			comparePropertyTrees(graph.mapOfClasses.at("mother").classElement, p1.get_child("default")));
412
413			std::istringstream xml2(R"(<default class="layer1">
414			<joint A="a1" B="b0" C="c1" />
415			<default class="layer2">
416			<joint B="b2" />
417			<geom C="c2" />
418			</default>
419			<geom A="a0" />
420	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</default>)");
421	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pt::ptree p2;
422	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pt::read_xml(xml2, p2, pt::xml_parser::trim_whitespace);
423	11/22 ✓ 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 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 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 41 not taken. ✓ Branch 42 taken 1 times.	2	BOOST_CHECK(
424			comparePropertyTrees(graph.mapOfClasses.at("layer1").classElement, p2.get_child("default")));
425	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::string name = "layer1";
426	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	TrueMap.insert(std::make_pair(name, p2.get_child("default")));
427
428			std::istringstream xml3(R"(<default class="layer2">
429			<joint A="a1" B="b2" C="c1"/>
430			<geom A="a0" C="c2"/>
431	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</default>)");
432	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pt::ptree p3;
433	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pt::read_xml(xml3, p3, pt::xml_parser::trim_whitespace);
434	11/22 ✓ 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 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 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 41 not taken. ✓ Branch 42 taken 1 times.	2	BOOST_CHECK(
435			comparePropertyTrees(graph.mapOfClasses.at("layer2").classElement, p3.get_child("default")));
436
437			std::istringstream xml4(R"(<default class="layerP">
438			<joint A="a0" B="b0" K="b2"/>
439			<site H="f1"/>
440			<geom A="a0"/>
441	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</default>)");
442	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pt::ptree p4;
443	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pt::read_xml(xml4, p4, pt::xml_parser::trim_whitespace);
444	11/22 ✓ 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 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 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 41 not taken. ✓ Branch 42 taken 1 times.	2	BOOST_CHECK(
445			comparePropertyTrees(graph.mapOfClasses.at("layerP").classElement, p4.get_child("default")));
446		2	}
447
448			#ifdef PINOCCHIO_WITH_URDFDOM
449			// @brief Test to check that default classes and child classes are taken into account
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451			{
452			typedef pinocchio::SE3::Vector3 Vector3;
453			typedef pinocchio::SE3::Matrix3 Matrix3;
454
455	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::string filename = PINOCCHIO_MODEL_DIR + std::string("/../unittest/models/test_mjcf.xml");
456
457	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_m;
458	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::mjcf::buildModel(filename, model_m);
459
460	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::string file_u = PINOCCHIO_MODEL_DIR + std::string("/../unittest/models/test_mjcf.urdf");
461	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_u;
462	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::urdf::buildModel(file_u, model_u);
463
464			pinocchio::Model::JointIndex idx;
465	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	pinocchio::Inertia inertia(0, Vector3(0.0, 0., 0.0), Matrix3::Identity());
466	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	8	idx = model_u.addJoint(
467	3/6 ✓ 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.	6	size_t(model_u.njoints - 1), pinocchio::JointModelSpherical(), pinocchio::SE3::Identity(),
468			"joint3");
469	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model_u.appendBodyToJoint(idx, inertia);
470
471	2/2 ✓ Branch 0 taken 4 times. ✓ Branch 1 taken 1 times.	10	for (int i = 0; i < model_m.njoints; i++)
472	5/10 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 4 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 4 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 4 times.	8	BOOST_CHECK_EQUAL(model_m.joints[i], model_u.joints[i]);
473		2	}
474			#endif // PINOCCHIO_WITH_URDFDOM
475
476			/// @brief Test to see if path options work
477	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(parse_dirs_no_strippath)
478			{
479			#ifdef _WIN32
480			std::istringstream xmlDataNoStrip(R"(<mujoco model="parseDirs">
481			<compiler meshdir="meshes" texturedir="textures"/>
482			<asset>
483			<texture name="testTexture" file="texture.png" type="2d"/>
484			<material name="matTest" texture="testTexture"/>
485			<mesh file="C://auto/mesh.obj"/>
486			</asset>
487			</mujoco>)");
488			#else
489			std::istringstream xmlDataNoStrip(R"(<mujoco model="parseDirs">
490			<compiler meshdir="meshes" texturedir="textures"/>
491			<asset>
492			<texture name="testTexture" file="texture.png" type="2d"/>
493			<material name="matTest" texture="testTexture"/>
494			<mesh file="/auto/mesh.obj"/>
495			</asset>
496	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
497			#endif
498
499	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlDataNoStrip);
500
501			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
502	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_m;
503	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model_m);
504
505	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "/fakeMjcf/fake.xml");
506	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	graph.parseGraphFromXML(namefile.name());
507
508			// Test texture
509	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	pinocchio::mjcf::details::MjcfTexture text = graph.mapOfTextures.at("testTexture");
510	5/10 ✓ 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 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_EQUAL(text.textType, "2d");
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512			boost::filesystem::path(text.filePath).generic_string(), "/fakeMjcf/textures/texture.png");
513			// Test Material
514	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	pinocchio::mjcf::details::MjcfMaterial mat = graph.mapOfMaterials.at("matTest");
515	5/10 ✓ 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 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_EQUAL(mat.texture, "testTexture");
516			// Test Meshes
517	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	pinocchio::mjcf::details::MjcfMesh mesh = graph.mapOfMeshes.at("mesh");
518			#ifdef _WIN32
519			BOOST_CHECK_EQUAL(boost::filesystem::path(mesh.filePath).generic_string(), "C://auto/mesh.obj");
520			#else
521	6/12 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK_EQUAL(boost::filesystem::path(mesh.filePath).generic_string(), "/auto/mesh.obj");
522			#endif
523		2	}
524
525			/// @brief Test strippath option
526			/// @param
527	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(parse_dirs_strippath)
528			{
529			std::istringstream xmlDataNoStrip(R"(<mujoco model="parseDirs">
530			<compiler meshdir="meshes" texturedir="textures" strippath="true"/>
531			<asset>
532			<mesh file="/auto/mesh.obj"/>
533			</asset>
534	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
535
536	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlDataNoStrip);
537
538			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
539	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_m;
540	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model_m);
541
542	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "/fakeMjcf/fake.xml");
543	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	graph.parseGraphFromXML(namefile.name());
544
545			// Test Meshes
546	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	pinocchio::mjcf::details::MjcfMesh mesh = graph.mapOfMeshes.at("mesh");
547	6/12 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK_EQUAL(
548			boost::filesystem::path(mesh.filePath).generic_string(), "/fakeMjcf/meshes/mesh.obj");
549		2	}
550
551			// Test for parsing Revolute
552	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(parse_RX)
553			{
554			typedef pinocchio::SE3::Vector3 Vector3;
555			typedef pinocchio::SE3::Matrix3 Matrix3;
556
557			std::istringstream xmlData(R"(
558			<mujoco model="model_RX">
559			<worldbody>
560			<body name="link0">
561			<body name="link1" pos="0 0 0">
562			<joint name="joint1" type="hinge" axis="1 0 0"/>
563			</body>
564			</body>
565			</worldbody>
566	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
567
568	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
569
570			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
571	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Model model_m, modelRX;
572	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model_m);
573
574	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
575	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	graph.parseGraphFromXML(namefile.name());
576	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	graph.parseRootTree();
577
578			pinocchio::Model::JointIndex idx;
579	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	pinocchio::Inertia inertia(0, Vector3(0.0, 0., 0.0), Matrix3::Identity());
580
581	5/10 ✓ Branch 2 taken 1 times. ✗ Branch 3 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.	2	idx = modelRX.addJoint(0, pinocchio::JointModelRX(), pinocchio::SE3::Identity(), "rx");
582	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	modelRX.appendBodyToJoint(idx, inertia);
583
584	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (int i = 0; i < model_m.njoints; i++)
585	5/10 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 2 times.	4	BOOST_CHECK_EQUAL(model_m.joints[i], modelRX.joints[i]);
586		2	}
587
588			// Test for parsing prismatic
589	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(parse_PX)
590			{
591			typedef pinocchio::SE3::Vector3 Vector3;
592			typedef pinocchio::SE3::Matrix3 Matrix3;
593
594			std::istringstream xmlData(R"(
595			<mujoco model="model_PX">
596			<worldbody>
597			<body name="link0">
598			<body name="link1" pos="0 0 0">
599			<joint name="joint1" type="slide" axis="1 0 0"/>
600			</body>
601			</body>
602			</worldbody>
603	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
604
605	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
606
607			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
608	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Model model_m, modelPX;
609	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model_m);
610
611	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
612	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	graph.parseGraphFromXML(namefile.name());
613	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	graph.parseRootTree();
614
615			pinocchio::Model::JointIndex idx;
616	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	pinocchio::Inertia inertia(0, Vector3(0.0, 0., 0.0), Matrix3::Identity());
617
618	5/10 ✓ Branch 2 taken 1 times. ✗ Branch 3 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.	2	idx = modelPX.addJoint(0, pinocchio::JointModelPX(), pinocchio::SE3::Identity(), "px");
619	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	modelPX.appendBodyToJoint(idx, inertia);
620
621	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (int i = 0; i < model_m.njoints; i++)
622	5/10 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 2 times.	4	BOOST_CHECK_EQUAL(model_m.joints[i], modelPX.joints[i]);
623		2	}
624
625			// Test parsing sphere
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627			{
628			typedef pinocchio::SE3::Vector3 Vector3;
629			typedef pinocchio::SE3::Matrix3 Matrix3;
630
631			std::istringstream xmlData(R"(
632			<mujoco model="model_Sphere">
633			<worldbody>
634			<body name="link0">
635			<body name="link1" pos="0 0 0">
636			<joint name="joint1" type="ball"/>
637			</body>
638			</body>
639			</worldbody>
640	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
641
642	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
643
644			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
645	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Model model_m, modelS;
646	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model_m);
647
648	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
649	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	graph.parseGraphFromXML(namefile.name());
650	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	graph.parseRootTree();
651
652			pinocchio::Model::JointIndex idx;
653	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	pinocchio::Inertia inertia(0, Vector3(0.0, 0., 0.0), Matrix3::Identity());
654
655	5/10 ✓ Branch 2 taken 1 times. ✗ Branch 3 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.	2	idx = modelS.addJoint(0, pinocchio::JointModelSpherical(), pinocchio::SE3::Identity(), "s");
656	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	modelS.appendBodyToJoint(idx, inertia);
657
658	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (int i = 0; i < model_m.njoints; i++)
659	5/10 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 2 times.	4	BOOST_CHECK_EQUAL(model_m.joints[i], modelS.joints[i]);
660		2	}
661
662			// Test parsing free flyer
663	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(parse_Free)
664			{
665			typedef pinocchio::SE3::Vector3 Vector3;
666			typedef pinocchio::SE3::Matrix3 Matrix3;
667
668			std::istringstream xmlData(R"(
669			<mujoco model="model_Free">
670			<worldbody>
671			<body name="link0">
672			<body name="link1" pos="0 0 0">
673			<freejoint name="joint1"/>
674			</body>
675			</body>
676			</worldbody>
677	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
678
679	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
680
681			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
682	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Model model_m, modelF;
683	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model_m);
684
685	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
686	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	graph.parseGraphFromXML(namefile.name());
687	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	graph.parseRootTree();
688
689			pinocchio::Model::JointIndex idx;
690	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	pinocchio::Inertia inertia(0, Vector3(0.0, 0., 0.0), Matrix3::Identity());
691
692	5/10 ✓ Branch 2 taken 1 times. ✗ Branch 3 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.	2	idx = modelF.addJoint(0, pinocchio::JointModelFreeFlyer(), pinocchio::SE3::Identity(), "f");
693	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	modelF.appendBodyToJoint(idx, inertia);
694
695	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (int i = 0; i < model_m.njoints; i++)
696	5/10 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 2 times.	4	BOOST_CHECK_EQUAL(model_m.joints[i], modelF.joints[i]);
697		2	}
698
699			// Test for Composite RXRY
700	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(parse_composite_RXRY)
701			{
702			typedef pinocchio::SE3::Vector3 Vector3;
703			typedef pinocchio::SE3::Matrix3 Matrix3;
704
705			std::istringstream xmlData(R"(
706			<mujoco model="composite_RXRY">
707			<worldbody>
708			<body name="link0">
709			<body name="link1" pos="0 0 0">
710			<joint name="joint1" type="hinge" axis="1 0 0"/>
711			<joint name="joint2" type="hinge" axis="0 1 0"/>
712			</body>
713			</body>
714			</worldbody>
715	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
716
717	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
718
719			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
720	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Model model_m, modelRXRY;
721	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model_m);
722
723	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
724	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	graph.parseGraphFromXML(namefile.name());
725	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	graph.parseRootTree();
726
727			pinocchio::Model::JointIndex idx;
728	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	pinocchio::Inertia inertia(0, Vector3(0.0, 0., 0.0), Matrix3::Identity());
729
730	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::JointModelComposite joint_model_RXRY;
731	3/6 ✓ 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.	2	joint_model_RXRY.addJoint(pinocchio::JointModelRX());
732	3/6 ✓ 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.	2	joint_model_RXRY.addJoint(pinocchio::JointModelRY());
733
734	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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.	2	idx = modelRXRY.addJoint(0, joint_model_RXRY, pinocchio::SE3::Identity(), "rxry");
735	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	modelRXRY.appendBodyToJoint(idx, inertia);
736
737	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (int i = 0; i < model_m.njoints; i++)
738	5/10 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 2 times.	4	BOOST_CHECK_EQUAL(model_m.joints[i], modelRXRY.joints[i]);
739		2	}
740
741			// Test for Composite PXPY
742	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(parse_composite_PXPY)
743			{
744			typedef pinocchio::SE3::Vector3 Vector3;
745			typedef pinocchio::SE3::Matrix3 Matrix3;
746
747			std::istringstream xmlData(R"(
748			<mujoco model="composite_PXPY">
749			<worldbody>
750			<body name="link0">
751			<body name="link1" pos="0 0 0">
752			<joint name="joint1" type="slide" axis="1 0 0"/>
753			<joint name="joint2" type="slide" axis="0 1 0"/>
754			</body>
755			</body>
756			</worldbody>
757	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
758
759	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
760
761			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
762	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Model model_m, modelPXPY;
763	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model_m);
764
765	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
766	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	graph.parseGraphFromXML(namefile.name());
767	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	graph.parseRootTree();
768
769			pinocchio::Model::JointIndex idx;
770	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	pinocchio::Inertia inertia(0, Vector3(0.0, 0., 0.0), Matrix3::Identity());
771
772	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::JointModelComposite joint_model_PXPY;
773	3/6 ✓ 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.	2	joint_model_PXPY.addJoint(pinocchio::JointModelPX());
774	3/6 ✓ 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.	2	joint_model_PXPY.addJoint(pinocchio::JointModelPY());
775
776	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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.	2	idx = modelPXPY.addJoint(0, joint_model_PXPY, pinocchio::SE3::Identity(), "pxpy");
777	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	modelPXPY.appendBodyToJoint(idx, inertia);
778
779	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (int i = 0; i < model_m.njoints; i++)
780	5/10 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 2 times.	4	BOOST_CHECK_EQUAL(model_m.joints[i], modelPXPY.joints[i]);
781		2	}
782
783			// Test for Composite PXRY
784	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(parse_composite_PXRY)
785			{
786			typedef pinocchio::SE3::Vector3 Vector3;
787			typedef pinocchio::SE3::Matrix3 Matrix3;
788
789			std::istringstream xmlData(R"(
790			<mujoco model="composite_PXRY">
791			<worldbody>
792			<body name="link0">
793			<body name="link1" pos="0 0 0">
794			<joint name="joint1" type="slide" axis="1 0 0"/>
795			<joint name="joint2" type="hinge" axis="0 1 0"/>
796			</body>
797			</body>
798			</worldbody>
799	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
800
801	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
802
803			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
804	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Model model_m, modelPXRY;
805	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model_m);
806
807	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
808	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	graph.parseGraphFromXML(namefile.name());
809	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	graph.parseRootTree();
810
811			pinocchio::Model::JointIndex idx;
812	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	pinocchio::Inertia inertia(0, Vector3(0.0, 0., 0.0), Matrix3::Identity());
813
814	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::JointModelComposite joint_model_PXRY;
815	3/6 ✓ 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.	2	joint_model_PXRY.addJoint(pinocchio::JointModelPX());
816	3/6 ✓ 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.	2	joint_model_PXRY.addJoint(pinocchio::JointModelRY());
817
818	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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.	2	idx = modelPXRY.addJoint(0, joint_model_PXRY, pinocchio::SE3::Identity(), "pxry");
819	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	modelPXRY.appendBodyToJoint(idx, inertia);
820
821	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (int i = 0; i < model_m.njoints; i++)
822	5/10 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 2 times.	4	BOOST_CHECK_EQUAL(model_m.joints[i], modelPXRY.joints[i]);
823		2	}
824
825			// Test for Composite PXSphere
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827			{
828			typedef pinocchio::SE3::Vector3 Vector3;
829			typedef pinocchio::SE3::Matrix3 Matrix3;
830
831			std::istringstream xmlData(R"(
832			<mujoco model="composite_PXSphere">
833			<worldbody>
834			<body name="link0">
835			<body name="link1" pos="0 0 0">
836			<joint name="joint1" type="slide" axis="1 0 0"/>
837			<joint name="joint2" type="ball"/>
838			</body>
839			</body>
840			</worldbody>
841	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
842
843	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
844
845			typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
846	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Model model_m, modelPXSphere;
847	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MjcfGraph::UrdfVisitor visitor(model_m);
848
849	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	MjcfGraph graph(visitor, "fakeMjcf");
850	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	graph.parseGraphFromXML(namefile.name());
851	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	graph.parseRootTree();
852
853			pinocchio::Model::JointIndex idx;
854	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	pinocchio::Inertia inertia(0, Vector3(0.0, 0., 0.0), Matrix3::Identity());
855
856	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::JointModelComposite joint_model_PXSphere;
857	3/6 ✓ 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.	2	joint_model_PXSphere.addJoint(pinocchio::JointModelPX());
858	3/6 ✓ 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.	2	joint_model_PXSphere.addJoint(pinocchio::JointModelSpherical());
859
860	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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.	2	idx = modelPXSphere.addJoint(0, joint_model_PXSphere, pinocchio::SE3::Identity(), "pxsphere");
861	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	modelPXSphere.appendBodyToJoint(idx, inertia);
862
863	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (int i = 0; i < model_m.njoints; i++)
864	5/10 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 2 times.	4	BOOST_CHECK_EQUAL(model_m.joints[i], modelPXSphere.joints[i]);
865		2	}
866
867			// Test loading a mujoco composite and compare body position with mujoco results
868	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(parse_composite_Mujoco_comparison)
869			{
870			using namespace pinocchio;
871			std::string filename =
872	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	PINOCCHIO_MODEL_DIR + std::string("/../unittest/models/test_composite.xml");
873
874	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
875	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::mjcf::buildModel(filename, model);
876
877	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
878	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector3d q;
879	3/6 ✓ 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.	2	q << 1.57079633, 0.3, 0.5;
880	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	framesForwardKinematics(model, data, q);
881
882	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	FrameIndex f_id = model.getFrameId("body1");
883	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	SE3 pinPos = data.oMf[f_id];
884
885	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d refOrient;
886	9/18 ✓ 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. ✓ 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 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken.	2	refOrient << 0, -.9553, .2955, 1, 0, 0, 0, .2955, .9553;
887	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector3d pos;
888	3/6 ✓ 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.	2	pos << .8522, 2, 0.5223;
889	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(pinPos.isApprox(SE3(refOrient, pos), 1e-4));
890
891	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	f_id = model.getFrameId("body2");
892	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinPos = data.oMf[f_id];
893
894	9/18 ✓ 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. ✓ 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 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken.	2	refOrient << 0, -.9553, .2955, 1, 0, 0, 0, .2955, .9553;
895
896	3/6 ✓ 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.	2	pos << .8522, 4, 0.5223;
897	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(pinPos.isApprox(SE3(refOrient, pos), 1e-4));
898		2	}
899
900			// Test laoding a model with a spherical joint and verify that keyframe is valid
901	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(adding_keyframes)
902			{
903			std::istringstream xmlData(R"(
904			<mujoco model="testKeyFrame">
905			<default>
906			<position ctrllimited="true" ctrlrange="-.1 .1" kp="30"/>
907			<default class="joint">
908			<geom type="cylinder" size=".006" fromto="0 0 0 0 0 .05" rgba=".9 .6 1 1"/>
909			</default>
910			</default>
911			<worldbody>
912			<body name="body1">
913			<freejoint/>
914			<geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
915			<body pos=".2 0 0" name="body2">
916			<joint type="ball" damping=".1"/>
917			<geom type="capsule" size=".01" fromto="0 -.15 0 0 0 0"/>
918			</body>
919			</body>
920			</worldbody>
921			<keyframe>
922			<key name="test"
923			qpos="0 0 0.596
924			0.988015 0 0.154359 0
925			0.988015 0 0.154359 0"/>
926			</keyframe>
927	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
928
929	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
930
931	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_m;
932	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::mjcf::buildModel(namefile.name(), model_m);
933
934	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	Eigen::VectorXd vect_model = model_m.referenceConfigurations.at("test");
935
936	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd vect_ref(model_m.nq);
937	11/22 ✓ 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. ✓ 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 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken.	2	vect_ref << 0, 0, 0.596, 0, 0.154359, 0, 0.988015, 0, 0.154359, 0, 0.988015;
938
939	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 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(vect_model.size() == vect_ref.size());
940	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(vect_model == vect_ref);
941		2	}
942
943			// Test reference positions and how it's included in keyframe
944	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(reference_positions)
945			{
946			std::istringstream xmlData(R"(
947			<mujoco model="testRefPose">
948			<compiler angle="radian"/>
949			<worldbody>
950			<body name="body1">
951			<body pos=".2 0 0" name="body2">
952			<joint type="slide" ref="0.14"/>
953			<body pos=".2 0 0" name="body3">
954			<joint type="hinge" ref="0.1"/>
955			</body>
956			</body>
957			</body>
958			</worldbody>
959			<keyframe>
960			<key name="test" qpos=".8 .5"/>
961			</keyframe>
962	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
963
964	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
965
966	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_m;
967	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::mjcf::buildModel(namefile.name(), model_m);
968
969	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	Eigen::VectorXd vect_model = model_m.referenceConfigurations.at("test");
970	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd vect_ref(model_m.nq);
971	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	vect_ref << 0.66, 0.4;
972
973	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 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(vect_model.size() == vect_ref.size());
974	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(vect_model == vect_ref);
975		2	}
976
977			// Test keyframe and composite joint
978	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(keyframe_and_composite)
979			{
980			std::istringstream xmlData(R"(
981			<mujoco model="keyframeComposite">
982			<compiler angle="radian"/>
983			<worldbody>
984			<body name="body1">
985			<body pos=".2 0 0" name="body2">
986			<joint type="slide"/>
987			<joint type="hinge"/>
988			<body pos=".2 0 0" name="body3">
989			<joint type="hinge"/>
990			</body>
991			</body>
992			</body>
993			</worldbody>
994			<keyframe>
995			<key name="test" qpos=".8 .5 .5"/>
996			</keyframe>
997	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
998
999	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
1000
1001	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_m;
1002	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::mjcf::buildModel(namefile.name(), model_m);
1003
1004	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	Eigen::VectorXd vect_model = model_m.referenceConfigurations.at("test");
1005	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd vect_ref(model_m.nq);
1006	3/6 ✓ 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.	2	vect_ref << 0.8, 0.5, 0.5;
1007
1008	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 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(vect_model.size() == vect_ref.size());
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1010		2	}
1011
1012			// Test site of mjcf model
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1014			{
1015			typedef pinocchio::SE3::Vector3 Vector3;
1016			typedef pinocchio::SE3::Matrix3 Matrix3;
1017
1018			std::istringstream xmlData(R"(
1019			<mujoco model="site">
1020			<compiler angle="radian"/>
1021			<worldbody>
1022			<body name="body1">
1023			<body pos=".2 0 0" name="body2">
1024			<joint type="hinge"/>
1025			<body pos=".2 0 0" name="body3">
1026			<joint type="hinge"/>
1027			<site name="testSite" pos="0.03 0 -0.05"/>
1028			</body>
1029			</body>
1030			</body>
1031			</worldbody>
1032	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
1033
1034	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
1035
1036	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_m;
1037	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::mjcf::buildModel(namefile.name(), model_m);
1038
1039	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model_m);
1040
1041	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix3 rotation_matrix;
1042	9/18 ✓ 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. ✓ 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 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken.	2	rotation_matrix << 1., 0., 0., 0., 1., 0., 0., 0., 1.;
1043	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::SE3 real_placement(rotation_matrix, Vector3(0.03, 0, -0.05));
1044
1045	9/18 ✓ 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 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(model_m.frames[model_m.getFrameId("testSite")].placement.isApprox(real_placement));
1046		2	}
1047
1048			/// @brief test that a fixed model is well parsed
1049			/// @param
1050	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(build_model_no_root_joint)
1051			{
1052			using namespace pinocchio;
1053	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.xml");
1054
1055	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_m;
1056	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::mjcf::buildModel(filename, model_m);
1057
1058	5/10 ✓ 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 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_EQUAL(model_m.nq, 29);
1059		2	}
1060
1061			#ifdef PINOCCHIO_WITH_URDFDOM
1062			/// @brief Test all the data of the humanoid model (Need to find the urdf yet)
1063			/// @param
1064	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(compare_to_urdf)
1065			{
1066			using namespace pinocchio;
1067			typedef typename pinocchio::Model::ConfigVectorMap ConfigVectorMap;
1068
1069	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.xml");
1070
1071	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model_m;
1072	3/6 ✓ 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.	2	pinocchio::mjcf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model_m);
1073
1074	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	const std::string filename_urdf = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
1075	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string dir_urdf = PINOCCHIO_MODEL_DIR;
1076	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_urdf;
1077	3/6 ✓ 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.	2	pinocchio::urdf::buildModel(filename_urdf, pinocchio::JointModelFreeFlyer(), model_urdf);
1078
1079	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(model_urdf.nq == model_m.nq);
1080	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(model_urdf.nv == model_m.nv);
1081	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(model_urdf.njoints == model_m.njoints);
1082	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(model_urdf.nbodies == model_m.nbodies);
1083	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(model_urdf.nframes == model_m.nframes);
1084	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.parents == model_m.parents);
1085	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.children == model_m.children);
1086	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.names == model_m.names);
1087	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.subtrees == model_m.subtrees);
1088	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.gravity == model_m.gravity);
1089	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(model_urdf.name == model_m.name);
1090	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.idx_qs == model_m.idx_qs);
1091	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.nqs == model_m.nqs);
1092	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.idx_vs == model_m.idx_vs);
1093	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.nvs == model_m.nvs);
1094
1095		2	typename ConfigVectorMap::const_iterator it = model_m.referenceConfigurations.begin();
1096			typename ConfigVectorMap::const_iterator it_model_urdf =
1097		2	model_urdf.referenceConfigurations.begin();
1098	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 1 times.	2	for (long k = 0; k < (long)model_m.referenceConfigurations.size(); ++k)
1099			{
1100		✗	std::advance(it, k);
1101		✗	std::advance(it_model_urdf, k);
1102		✗	BOOST_CHECK(it->second.size() == it_model_urdf->second.size());
1103		✗	BOOST_CHECK(it->second == it_model_urdf->second);
1104			}
1105
1106	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 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(model_urdf.armature.size() == model_m.armature.size());
1107
1108	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.armature == model_m.armature);
1109	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 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(model_urdf.friction.size() == model_m.friction.size());
1110	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.friction == model_m.friction);
1111
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1113
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1115
1116	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 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(model_urdf.rotorInertia.size() == model_m.rotorInertia.size());
1117
1118	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.rotorInertia == model_m.rotorInertia);
1119
1120	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 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(model_urdf.rotorGearRatio.size() == model_m.rotorGearRatio.size());
1121
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1123
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1125	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.effortLimit == model_m.effortLimit);
1126			// Cannot test velocity limit since it does not exist in mjcf
1127
1128	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 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(model_urdf.lowerPositionLimit.size() == model_m.lowerPositionLimit.size());
1129	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.lowerPositionLimit == model_m.lowerPositionLimit);
1130
1131	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 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(model_urdf.upperPositionLimit.size() == model_m.upperPositionLimit.size());
1132	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(model_urdf.upperPositionLimit == model_m.upperPositionLimit);
1133
1134	2/2 ✓ Branch 1 taken 30 times. ✓ Branch 2 taken 1 times.	62	for (size_t k = 1; k < model_m.inertias.size(); ++k)
1135			{
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1137			}
1138
1139	2/2 ✓ Branch 1 taken 30 times. ✓ Branch 2 taken 1 times.	62	for (size_t k = 1; k < model_urdf.jointPlacements.size(); ++k)
1140			{
1141	7/14 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 30 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 30 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 30 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 30 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 30 times. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 30 times.	60	BOOST_CHECK(model_urdf.jointPlacements[k] == model_m.jointPlacements[k]);
1142			}
1143
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1145
1146	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 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(model_urdf.frames.size() == model_m.frames.size());
1147	2/2 ✓ Branch 1 taken 60 times. ✓ Branch 2 taken 1 times.	122	for (size_t k = 1; k < model_urdf.frames.size(); ++k)
1148			{
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1150			}
1151		2	}
1152			#endif // PINOCCHIO_WITH_URDFDOM
1153
1154			#if defined(PINOCCHIO_WITH_HPP_FCL)
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1156			{
1157			typedef pinocchio::Model Model;
1158			typedef pinocchio::GeometryModel GeometryModel;
1159
1160			// Parse the XML
1161			std::istringstream xmlData(R"(<mujoco model="inertiaFromGeom">
1162			<compiler inertiafromgeom="true" />
1163			<worldbody>
1164			<body pos="0 0 0" name="bodyCylinder">
1165			<geom type="cylinder" size=".01 0.25" pos="0 0 0" quat="1 0 0 0"/>
1166			<body pos="0 0 0" name="bodyBox">
1167			<geom type="box" size=".01 0.01 0.25" pos="0 0 0" quat="1 0 0 0"/>
1168			</body>
1169			<body pos="0 0 0" name="bodyCapsule">
1170			<geom type="capsule" size=".01 0.25" pos="0 0 0" quat="1 0 0 0"/>
1171			</body>
1172			<body pos="0 0 0" name="bodySphere">
1173			<geom type="sphere" size=".01" pos="0 0 0" quat="1 0 0 0"/>
1174			</body>
1175			<body pos="0 0 0" name="bodyEllip">
1176			<geom type="ellipsoid" size=".01 0.01 0.25" pos="0 0 0" quat="1 0 0 0"/>
1177			</body>
1178			</body>
1179			</worldbody>
1180	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	</mujoco>)");
1181
1182	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto namefile = createTempFile(xmlData);
1183
1184	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model_m;
1185	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::mjcf::buildModel(namefile.name(), model_m);
1186
1187	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geomModel_m;
1188	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	pinocchio::mjcf::buildGeom(model_m, namefile.name(), pinocchio::COLLISION, geomModel_m);
1189
1190	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(geomModel_m.ngeoms == 5);
1191
1192	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	auto * cyl = dynamic_cast<hpp::fcl::Cylinder *>(geomModel_m.geometryObjects.at(0).geometry.get());
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1194	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(cyl->halfLength == 0.25);
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1196
1197	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	auto * cap = dynamic_cast<hpp::fcl::Capsule *>(geomModel_m.geometryObjects.at(2).geometry.get());
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1201
1202	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	auto * s = dynamic_cast<hpp::fcl::Sphere *>(geomModel_m.geometryObjects.at(3).geometry.get());
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1205
1206	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	auto * b = dynamic_cast<hpp::fcl::Box *>(geomModel_m.geometryObjects.at(1).geometry.get());
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1208	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector3d sides;
1209	3/6 ✓ 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.	2	sides << 0.01, 0.01, 0.25;
1210	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(b->halfSide == sides);
1211
1212	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	auto * e = dynamic_cast<hpp::fcl::Ellipsoid *>(geomModel_m.geometryObjects.at(4).geometry.get());
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1214	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(e->radii == sides);
1215		2	}
1216			#endif // if defined(PINOCCHIO_WITH_HPP_FCL)
1217
1218			BOOST_AUTO_TEST_SUITE_END()
1219