GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	472	482	97.9%
Branches:	1690	3366	50.2%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2016-2022 CNRS INRIA
3			//
4
5			#include "pinocchio/multibody/data.hpp"
6			#include "pinocchio/multibody/model.hpp"
7
8			#include "pinocchio/algorithm/check.hpp"
9			#include "pinocchio/algorithm/model.hpp"
10			#include "pinocchio/algorithm/kinematics.hpp"
11			#include "pinocchio/algorithm/frames.hpp"
12			#include "pinocchio/algorithm/joint-configuration.hpp"
13			#include "pinocchio/algorithm/geometry.hpp"
14			#include "pinocchio/algorithm/center-of-mass.hpp"
15
16			#include "pinocchio/multibody/sample-models.hpp"
17			#include "pinocchio/spatial/fwd.hpp"
18
19			#include <boost/test/unit_test.hpp>
20			#include <boost/utility/binary.hpp>
21
22			using namespace pinocchio;
23
24			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
25
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27			{
28	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
29	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
30
31	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Model::JointIndex idx_larm1 = model.getJointId("larm1_joint");
32	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(idx_larm1 < (Model::JointIndex)model.njoints);
33		2	Model::IndexVector & subtree = model.subtrees[idx_larm1];
34	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(subtree.size() == 6);
35
36	2/2 ✓ Branch 1 taken 28 times. ✓ Branch 2 taken 1 times.	58	for (size_t joint_id = 0; joint_id < model.joints.size(); ++joint_id)
37			{
38		56	const Model::IndexVector & children = model.children[joint_id];
39	2/2 ✓ Branch 1 taken 27 times. ✓ Branch 2 taken 28 times.	110	for (size_t i = 0; i < children.size(); ++i)
40			{
41	6/12 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 27 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 27 times.	54	BOOST_CHECK(model.parents[children[i]] == joint_id);
42			}
43			}
44
45	2/2 ✓ Branch 1 taken 5 times. ✓ Branch 2 taken 1 times.	12	for (size_t i = 1; i < subtree.size(); ++i)
46			{
47	6/12 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 5 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 5 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 5 times.	10	BOOST_CHECK(model.parents[subtree[i]] == subtree[i - 1]);
48			}
49
50			// Check that i starts subtree[i]
51	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; ++joint_id)
52			{
53	6/12 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 27 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 27 times.	54	BOOST_CHECK(model.subtrees[joint_id][0] == joint_id);
54			}
55
56			// Check that subtree[0] contains all joint ids
57	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; ++joint_id)
58			{
59	6/12 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 27 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 27 times.	54	BOOST_CHECK(model.subtrees[0][joint_id - 1] == joint_id);
60			}
61		2	}
62
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64			{
65	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
66	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
67
68	2/2 ✓ Branch 0 taken 55 times. ✓ Branch 1 taken 1 times.	112	for (FrameIndex i = 0; i < static_cast<FrameIndex>(model.nframes); i++)
69			{
70	6/12 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 55 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 55 times. ✗ Branch 10 not taken. ✓ Branch 14 taken 55 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 55 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 55 times.	110	BOOST_CHECK_EQUAL(i, model.getFrameId(model.frames[i].name));
71			}
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73		2	}
74
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76			{
77	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
78	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
79	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const Model::IndexVector support0_ref(1, 0);
80	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(model.supports[0] == support0_ref);
81
82			// Check that i ends supports[i]
83	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; ++joint_id)
84			{
85	6/12 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 27 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 27 times.	54	BOOST_CHECK(model.supports[joint_id].back() == joint_id);
86		54	Model::IndexVector & support = model.supports[joint_id];
87
88		54	size_t current_id = support.size() - 2;
89	2/2 ✓ Branch 1 taken 111 times. ✓ Branch 2 taken 27 times.	276	for (JointIndex parent_id = model.parents[joint_id]; parent_id > 0;
90		222	parent_id = model.parents[parent_id], current_id--)
91			{
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93			}
94			}
95		2	}
96
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98			{
99	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
101
102			// Check that i ends supports[i]
103	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; ++joint_id)
104			{
105		54	const Model::JointModel & jmodel = model.joints[joint_id];
106
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109
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112			}
113		2	}
114
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116			{
117	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
119
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121		2	}
122
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124			{
125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
126	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
127
128	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 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 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(model.cast<double>() == model.cast<double>());
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130
131			typedef ModelTpl<long double> Modelld;
132
133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Modelld model2(model);
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135		2	}
136
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138			{
139	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
140	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(model);
141
142	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	PINOCCHIO_ALIGNED_STD_VECTOR(Model) models;
143	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (size_t k = 0; k < 20; ++k)
144			{
145	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	40	models.push_back(Model());
146	1/2 ✓ Branch 2 taken 20 times. ✗ Branch 3 not taken.	40	buildModels::humanoid(models.back());
147
148	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(model == models.back());
149			}
150		2	}
151
152			#ifdef PINOCCHIO_WITH_HPP_FCL
153			struct AddPrefix
154			{
155			std::string p;
156		35	std::string operator()(const std::string & n)
157			{
158		35	return p + n;
159			}
160		84	Frame operator()(const Frame & _f)
161			{
162		84	Frame f(_f);
163	1/2 ✓ Branch 1 taken 84 times. ✗ Branch 2 not taken.	84	f.name = p + f.name;
164		84	return f;
165			}
166		2	AddPrefix(const char * _p)
167	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	2	: p(_p)
168			{
169		2	}
170			};
171
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173			{
174	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model manipulator, humanoid;
175	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	GeometryModel geomManipulator, geomHumanoid;
176
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::manipulator(manipulator);
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::manipulatorGeometries(manipulator, geomManipulator);
179	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geomManipulator.addAllCollisionPairs();
180			// Add prefix to joint and frame names
181	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	AddPrefix addManipulatorPrefix("manipulator/");
182	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	6	std::transform(
183		6	++manipulator.names.begin(), manipulator.names.end(), ++manipulator.names.begin(),
184			addManipulatorPrefix);
185	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	6	std::transform(
186		6	++manipulator.frames.begin(), manipulator.frames.end(), ++manipulator.frames.begin(),
187			addManipulatorPrefix);
188
189	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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken.	2	BOOST_TEST_MESSAGE(manipulator);
190
191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(humanoid);
192	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidGeometries(humanoid, geomHumanoid);
193	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geomHumanoid.addAllCollisionPairs();
194			// Add prefix to joint and frame names
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	AddPrefix addHumanoidPrefix("humanoid/");
196	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	6	std::transform(
197		6	++humanoid.names.begin(), humanoid.names.end(), ++humanoid.names.begin(), addHumanoidPrefix);
198	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	6	std::transform(
199		6	++humanoid.frames.begin(), humanoid.frames.end(), ++humanoid.frames.begin(), addHumanoidPrefix);
200
201	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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken.	2	BOOST_TEST_MESSAGE(humanoid);
202
203	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	typename Model::ConfigVectorType humanoid_config_vector(humanoid.nq);
204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	typename Model::ConfigVectorType manipulator_config_vector(manipulator.nq);
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid_config_vector = randomConfiguration(humanoid);
206	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	manipulator_config_vector = randomConfiguration(manipulator);
207	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid.referenceConfigurations.insert(std::make_pair("common_key", humanoid_config_vector));
208	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	manipulator.referenceConfigurations.insert(
209	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	std::make_pair("common_key", manipulator_config_vector));
210
211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid_config_vector = randomConfiguration(humanoid);
212	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	manipulator_config_vector = randomConfiguration(manipulator);
213	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid.referenceConfigurations.insert(std::make_pair("humanoid_key", humanoid_config_vector));
214	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	manipulator.referenceConfigurations.insert(
215	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	std::make_pair("manipulator_key", manipulator_config_vector));
216
217			// TODO fix inertia of the base
218	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	manipulator.inertias[0].setRandom();
219	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 aMb = SE3::Random();
220
221			// First append a model to the universe frame.
222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model1;
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geomModel1;
224		2	FrameIndex fid = 0;
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	appendModel(
226	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid, manipulator, geomHumanoid, geomManipulator, fid, SE3::Identity(), model1, geomModel1);
227			typedef typename Model::ConfigVectorMap ConfigVectorMap;
228
229	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	typename Model::ConfigVectorType neutral_config_vector(model1.nq);
230	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral(model1, neutral_config_vector);
231
232	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(model1.referenceConfigurations.size() == 3);
233		2	for (typename ConfigVectorMap::const_iterator config_it = model1.referenceConfigurations.begin();
234	2/2 ✓ Branch 4 taken 3 times. ✓ Branch 5 taken 1 times.	8	config_it != model1.referenceConfigurations.end(); ++config_it)
235			{
236		6	const std::string & config_name = config_it->first;
237		6	const typename Model::ConfigVectorType & config_vector = config_it->second;
238
239			typename ConfigVectorMap::const_iterator humanoid_config =
240	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	humanoid.referenceConfigurations.find(config_name);
241			typename ConfigVectorMap::const_iterator manipulator_config =
242	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	manipulator.referenceConfigurations.find(config_name);
243	2/2 ✓ Branch 1 taken 105 times. ✓ Branch 2 taken 3 times.	216	for (JointIndex joint_id = 1; joint_id < model1.joints.size(); ++joint_id)
244			{
245		210	const JointModel & joint_model1 = model1.joints[joint_id];
246		210	if (
247		210	humanoid_config != humanoid.referenceConfigurations.end()
248	7/8 ✓ Branch 0 taken 70 times. ✓ Branch 1 taken 35 times. ✓ Branch 4 taken 70 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 58 times. ✓ Branch 7 taken 12 times. ✓ Branch 8 taken 58 times. ✓ Branch 9 taken 47 times.	210	&& humanoid.existJointName(model1.names[joint_id]))
249			{ // key and joint exists in humanoid
250			const JointModel & joint_model_humanoid =
251	1/2 ✓ Branch 2 taken 58 times. ✗ Branch 3 not taken.	116	humanoid.joints[humanoid.getJointId(model1.names[joint_id])];
252	9/18 ✓ Branch 1 taken 58 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 58 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 58 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 58 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 58 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 58 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 58 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 58 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 58 times.	116	BOOST_CHECK(
253			joint_model_humanoid.jointConfigSelector(humanoid_config->second)
254			== joint_model1.jointConfigSelector(config_vector));
255			// std::cerr<<"humanoid "<<config_name<<" "<<model1.names[joint_id]<<std::endl;
256			}
257		94	else if (
258		94	manipulator_config != manipulator.referenceConfigurations.end()
259	7/8 ✓ Branch 0 taken 41 times. ✓ Branch 1 taken 6 times. ✓ Branch 4 taken 41 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 12 times. ✓ Branch 7 taken 29 times. ✓ Branch 8 taken 12 times. ✓ Branch 9 taken 35 times.	94	&& manipulator.existJointName(model1.names[joint_id]))
260			{ // key and joint exists in manipulator.
261			const JointModel & joint_model_manipulator =
262	1/2 ✓ Branch 2 taken 12 times. ✗ Branch 3 not taken.	24	manipulator.joints[manipulator.getJointId(model1.names[joint_id])];
263	9/18 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 12 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 12 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 12 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 12 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 12 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 12 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 12 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 12 times.	24	BOOST_CHECK(
264			joint_model_manipulator.jointConfigSelector(manipulator_config->second)
265			== joint_model1.jointConfigSelector(config_vector));
266			// std::cerr<<"manipulator "<<config_name<<" "<<model1.names[joint_id]<<std::endl;
267			}
268			else
269			{ // joint and key combo not found, should with neutral
270	9/18 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 35 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 35 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 35 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 35 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 35 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 35 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 35 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 35 times.	70	BOOST_CHECK(
271			joint_model1.jointConfigSelector(neutral_config_vector)
272			== joint_model1.jointConfigSelector(config_vector));
273			// std::cerr<<"neutral "<<config_name<<" "<<model1.names[joint_id]<<std::endl;
274			}
275			}
276			}
277
278			{
279	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model model2 = appendModel(humanoid, manipulator, fid, SE3::Identity());
280	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model3;
281	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	appendModel(humanoid, manipulator, fid, SE3::Identity(), model3);
282	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(model1 == model2);
283	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(model1 == model3);
284	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(model2 == model3);
285		2	}
286
287	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data1(model1);
288	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(model1.check(data1));
289
290	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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken.	2	BOOST_TEST_MESSAGE(model1);
291
292			// Second, append a model to a moving frame.
293	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
294
295	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geomModel;
296	9/18 ✓ 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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 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 35 taken 1 times. ✗ Branch 36 not taken.	2	fid = humanoid.addFrame(Frame(
297			"humanoid/add_manipulator", humanoid.getJointId("humanoid/chest2_joint"),
298			humanoid.getFrameId("humanoid/chest2_joint"), aMb, OP_FRAME));
299
300			// Append manipulator to chest2_joint of humanoid
301	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	appendModel(
302	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid, manipulator, geomHumanoid, geomManipulator, fid, SE3::Identity(), model, geomModel);
303
304	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral_config_vector.resize(model.nq);
305	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral(model, neutral_config_vector);
306
307	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.referenceConfigurations.size() == 3);
308		2	for (typename ConfigVectorMap::const_iterator config_it = model.referenceConfigurations.begin();
309	2/2 ✓ Branch 4 taken 3 times. ✓ Branch 5 taken 1 times.	8	config_it != model.referenceConfigurations.end(); ++config_it)
310			{
311		6	const std::string & config_name = config_it->first;
312		6	const typename Model::ConfigVectorType & config_vector = config_it->second;
313
314			typename ConfigVectorMap::const_iterator humanoid_config =
315	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	humanoid.referenceConfigurations.find(config_name);
316			typename ConfigVectorMap::const_iterator manipulator_config =
317	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	manipulator.referenceConfigurations.find(config_name);
318	2/2 ✓ Branch 1 taken 105 times. ✓ Branch 2 taken 3 times.	216	for (JointIndex joint_id = 1; joint_id < model.joints.size(); ++joint_id)
319			{
320		210	const JointModel & joint_model = model.joints[joint_id];
321		210	if (
322		210	humanoid_config != humanoid.referenceConfigurations.end()
323	7/8 ✓ Branch 0 taken 70 times. ✓ Branch 1 taken 35 times. ✓ Branch 4 taken 70 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 58 times. ✓ Branch 7 taken 12 times. ✓ Branch 8 taken 58 times. ✓ Branch 9 taken 47 times.	210	&& humanoid.existJointName(model.names[joint_id]))
324			{ // key and joint exists in humanoid
325			const JointModel & joint_model_humanoid =
326	1/2 ✓ Branch 2 taken 58 times. ✗ Branch 3 not taken.	116	humanoid.joints[humanoid.getJointId(model.names[joint_id])];
327	9/18 ✓ Branch 1 taken 58 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 58 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 58 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 58 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 58 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 58 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 58 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 58 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 58 times.	116	BOOST_CHECK(
328			joint_model_humanoid.jointConfigSelector(humanoid_config->second)
329			== joint_model.jointConfigSelector(config_vector));
330			// std::cerr<<"humanoid "<<config_name<<" "<<model.names[joint_id]<<std::endl;
331			}
332		94	else if (
333		94	manipulator_config != manipulator.referenceConfigurations.end()
334	7/8 ✓ Branch 0 taken 41 times. ✓ Branch 1 taken 6 times. ✓ Branch 4 taken 41 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 12 times. ✓ Branch 7 taken 29 times. ✓ Branch 8 taken 12 times. ✓ Branch 9 taken 35 times.	94	&& manipulator.existJointName(model.names[joint_id]))
335			{ // key and joint exists in manipulator.
336			const JointModel & joint_model_manipulator =
337	1/2 ✓ Branch 2 taken 12 times. ✗ Branch 3 not taken.	24	manipulator.joints[manipulator.getJointId(model.names[joint_id])];
338	9/18 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 12 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 12 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 12 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 12 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 12 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 12 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 12 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 12 times.	24	BOOST_CHECK(
339			joint_model_manipulator.jointConfigSelector(manipulator_config->second)
340			== joint_model.jointConfigSelector(config_vector));
341			// std::cerr<<"manipulator "<<config_name<<" "<<model.names[joint_id]<<std::endl;
342			}
343			else
344			{ // joint and key combo not found, should with neutral
345	9/18 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 35 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 35 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 35 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 35 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 35 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 35 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 35 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 35 times.	70	BOOST_CHECK(
346			joint_model.jointConfigSelector(neutral_config_vector)
347			== joint_model.jointConfigSelector(config_vector));
348			// std::cerr<<"neutral "<<config_name<<" "<<model.names[joint_id]<<std::endl;
349			}
350			}
351			}
352
353			{
354	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model model2 = appendModel(humanoid, manipulator, fid, SE3::Identity());
355	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model3;
356	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	appendModel(humanoid, manipulator, fid, SE3::Identity(), model3);
357	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 == model2);
358	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 == model3);
359	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(model2 == model3);
360		2	}
361
362	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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken.	2	BOOST_TEST_MESSAGE(model);
363
364	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
365	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.check(data));
366
367			// Check the model
368	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK_EQUAL(
369			model.getJointId("humanoid/chest2_joint"),
370			model.parents[model.getJointId("manipulator/shoulder1_joint")]);
371
372			// check the joint order and the inertias
373			// All the joints of the manipulator should be at the end of the merged model
374		2	JointIndex hnj = (JointIndex)humanoid.njoints;
375	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	JointIndex chest2 = model.getJointId("humanoid/chest2_joint");
376	2/2 ✓ Branch 0 taken 29 times. ✓ Branch 1 taken 1 times.	60	for (JointIndex jid = 1; jid < hnj; ++jid)
377			{
378	8/16 ✓ Branch 2 taken 29 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 29 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 29 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 29 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 29 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 29 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 29 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 29 times. ✗ Branch 26 not taken.	58	BOOST_TEST_MESSAGE("Checking joint " << jid << " " << model.names[jid]);
379	5/10 ✓ Branch 1 taken 29 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 29 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 29 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 29 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 29 times.	58	BOOST_CHECK_EQUAL(model.names[jid], humanoid.names[jid]);
380	2/2 ✓ Branch 0 taken 28 times. ✓ Branch 1 taken 1 times.	58	if (jid != chest2)
381	5/10 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 28 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 28 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 28 times.	56	BOOST_CHECK_EQUAL(model.inertias[jid], humanoid.inertias[jid]);
382			else
383	13/26 ✓ 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 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 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 1 times. ✗ Branch 39 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 44 taken 1 times. ✗ Branch 45 not taken. ✗ Branch 51 not taken. ✓ Branch 52 taken 1 times.	2	BOOST_CHECK_MESSAGE(
384			model.inertias[jid].isApprox(
385			manipulator.inertias[0].se3Action(aMb) + humanoid.inertias[jid]),
386			model.inertias[jid] << " != "
387			<< manipulator.inertias[0].se3Action(aMb) + humanoid.inertias[jid]);
388
389	5/10 ✓ Branch 1 taken 29 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 29 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 29 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 29 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 29 times.	58	BOOST_CHECK_EQUAL(model.jointPlacements[jid], humanoid.jointPlacements[jid]);
390			}
391	2/2 ✓ Branch 1 taken 5 times. ✓ Branch 2 taken 1 times.	12	for (JointIndex jid = 1; jid < manipulator.joints.size() - 1; ++jid)
392			{
393	8/16 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 5 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 5 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 5 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 5 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 5 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 5 times. ✗ Branch 26 not taken.	10	BOOST_TEST_MESSAGE("Checking joint " << hnj - 1 + jid << " " << model.names[hnj + jid]);
394	5/10 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 5 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 5 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 5 times.	10	BOOST_CHECK_EQUAL(model.names[hnj - 1 + jid], manipulator.names[jid]);
395	5/10 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 5 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 5 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 5 times.	10	BOOST_CHECK_EQUAL(model.inertias[hnj - 1 + jid], manipulator.inertias[jid]);
396	2/2 ✓ Branch 0 taken 1 times. ✓ Branch 1 taken 4 times.	10	if (jid == 1)
397	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK_EQUAL(
398			model.jointPlacements[hnj - 1 + jid], aMb * manipulator.jointPlacements[jid]);
399			else
400	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.jointPlacements[hnj - 1 + jid], manipulator.jointPlacements[jid]);
401			}
402			// Check the frames
403	2/2 ✓ Branch 1 taken 70 times. ✓ Branch 2 taken 1 times.	142	for (FrameIndex fid = 1; fid < humanoid.frames.size(); ++fid)
404			{
405	1/2 ✓ Branch 3 taken 70 times. ✗ Branch 4 not taken.	140	const Frame &frame = humanoid.frames[fid], parent = humanoid.frames[frame.parentFrame];
406	7/14 ✓ Branch 1 taken 70 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 70 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 70 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 70 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 70 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 70 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 70 times.	140	BOOST_CHECK(model.existFrame(frame.name, frame.type));
407	1/2 ✓ Branch 1 taken 70 times. ✗ Branch 2 not taken.	140	const Frame &nframe = model.frames[model.getFrameId(frame.name, frame.type)],
408	1/2 ✓ Branch 2 taken 70 times. ✗ Branch 3 not taken.	140	nparent = model.frames[nframe.parentFrame];
409	5/10 ✓ Branch 1 taken 70 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 70 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 70 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 70 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 70 times.	140	BOOST_CHECK_EQUAL(parent.name, nparent.name);
410	5/10 ✓ Branch 1 taken 70 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 70 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 70 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 70 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 70 times.	140	BOOST_CHECK_EQUAL(frame.placement, nframe.placement);
411		140	}
412	2/2 ✓ Branch 1 taken 15 times. ✓ Branch 2 taken 1 times.	32	for (FrameIndex fid = 1; fid < manipulator.frames.size(); ++fid)
413			{
414	1/2 ✓ Branch 3 taken 15 times. ✗ Branch 4 not taken.	30	const Frame &frame = manipulator.frames[fid], parent = manipulator.frames[frame.parentFrame];
415	7/14 ✓ Branch 1 taken 15 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 15 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 15 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 15 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 15 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 15 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 15 times.	30	BOOST_CHECK(model.existFrame(frame.name, frame.type));
416	1/2 ✓ Branch 1 taken 15 times. ✗ Branch 2 not taken.	30	const Frame &nframe = model.frames[model.getFrameId(frame.name, frame.type)],
417	1/2 ✓ Branch 2 taken 15 times. ✗ Branch 3 not taken.	30	nparent = model.frames[nframe.parentFrame];
418	2/2 ✓ Branch 0 taken 14 times. ✓ Branch 1 taken 1 times.	30	if (frame.parentFrame > 0)
419			{
420	5/10 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 14 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 14 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 14 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 14 times.	28	BOOST_CHECK_EQUAL(parent.name, nparent.name);
421	5/10 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 14 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 14 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 14 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 14 times.	28	BOOST_CHECK_EQUAL(frame.placement, nframe.placement);
422			}
423		30	}
424
425			{
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	Inertia inertia(2., Eigen::Vector3d(0.1, 0.1, 0.1), Eigen::Matrix3d::Identity());
427	3/6 ✓ 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.	4	Frame additional_frame("inertial_frame", 2, SE3::Identity(), FrameType::JOINT, inertia);
428	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid.addFrame(additional_frame);
429	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double mass_humanoid = computeTotalMass(humanoid);
430	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double mass_manipulator = computeTotalMass(manipulator);
431		2	double total_mass = mass_manipulator + mass_humanoid;
432
433	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model4;
434	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geomModel4;
435	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	appendModel(
436	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	humanoid, manipulator, geomHumanoid, geomManipulator, 0, SE3::Identity(), model4, geomModel4);
437	7/14 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(computeTotalMass(model4), total_mass, 1e-6);
438		2	}
439			{
440	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model ff_model;
441	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	auto ff_id = ff_model.addJoint(0, JointModelFreeFlyer(), SE3::Identity(), "floating_base");
442	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ff_model.addJointFrame(ff_id);
443	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel ff_geom_model = GeometryModel();
444	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	FrameIndex frame_id = ff_model.getFrameId("floating_base");
445	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model4;
446	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geomModel4;
447	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	appendModel(
448	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	ff_model, manipulator, ff_geom_model, geomManipulator, frame_id, SE3::Identity(), model4,
449			geomModel4);
450	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 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 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(model4.inertias[1] == model4.inertias[1]);
451		2	}
452
453			{
454	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model model5, gripperModel;
455
456	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	Inertia inertia(1., SE3::Vector3(0.5, 0., 0.0), SE3::Matrix3::Identity());
457	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 pos(1);
458
459	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pos.translation() = SE3::LinearType(0.1, 0., 0.);
460	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	JointIndex idx = gripperModel.addJoint(0, JointModelPX(), pos, "left_finger");
461	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	gripperModel.addJointFrame(idx);
462
463	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pos.translation() = SE3::LinearType(-0.1, 0., 0.);
464	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 = gripperModel.addJoint(0, JointModelPX(), pos, "right_finger");
465	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	gripperModel.addJointFrame(idx);
466
467	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 transformManGr = SE3::Random();
468		2	FrameIndex fid = (FrameIndex)(manipulator.frames.size() - 1);
469	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	appendModel(manipulator, gripperModel, fid, transformManGr, model5);
470
471	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	JointIndex jid5 = model5.getJointId("left_finger");
472	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	JointIndex jidG = gripperModel.getJointId("left_finger");
473	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 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 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(
474			model5.jointPlacements[jid5].isApprox(transformManGr * gripperModel.jointPlacements[jidG]));
475
476	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	jid5 = model5.getJointId("right_finger");
477	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	jidG = gripperModel.getJointId("right_finger");
478	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 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 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(
479			model5.jointPlacements[jid5].isApprox(transformManGr * gripperModel.jointPlacements[jidG]));
480		2	}
481		2	}
482			#endif
483
484	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_buildReducedModel_empty)
485			{
486	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model humanoid_model;
487	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(humanoid_model);
488
489	2/4 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken. ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	static const std::vector<JointIndex> empty_index_vector;
490
491	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid_model.lowerPositionLimit.head<3>().fill(-1.);
492	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid_model.upperPositionLimit.head<3>().fill(1.);
493
494	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid_model.referenceConfigurations.insert(
495	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	std::pair<std::string, Eigen::VectorXd>("neutral", neutral(humanoid_model)));
496	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd reference_config_humanoid = randomConfiguration(humanoid_model);
497			Model humanoid_copy_model =
498	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(humanoid_model, empty_index_vector, reference_config_humanoid);
499
500	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(humanoid_copy_model.names == humanoid_model.names);
501	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(humanoid_copy_model.joints == humanoid_model.joints);
502	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(humanoid_copy_model == humanoid_model);
503	10/20 ✓ 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 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. ✗ Branch 39 not taken. ✓ Branch 40 taken 1 times.	2	BOOST_CHECK(
504			humanoid_copy_model.referenceConfigurations["neutral"].isApprox(neutral(humanoid_copy_model)));
505
506		2	const std::vector<JointIndex> empty_joints_to_lock;
507
508			const Model reduced_humanoid_model =
509	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(humanoid_model, empty_joints_to_lock, reference_config_humanoid);
510	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(reduced_humanoid_model.njoints == humanoid_model.njoints);
511	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(reduced_humanoid_model.frames == humanoid_model.frames);
512	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(reduced_humanoid_model.jointPlacements == humanoid_model.jointPlacements);
513	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(reduced_humanoid_model.joints == humanoid_model.joints);
514
515	2/2 ✓ Branch 0 taken 29 times. ✓ Branch 1 taken 1 times.	60	for (JointIndex joint_id = 1; joint_id < (JointIndex)reduced_humanoid_model.njoints; ++joint_id)
516			{
517	7/14 ✓ Branch 1 taken 29 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 29 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 29 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 29 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 29 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 29 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 29 times.	58	BOOST_CHECK(
518			reduced_humanoid_model.inertias[joint_id].isApprox(humanoid_model.inertias[joint_id]));
519			}
520		2	}
521
522	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_buildReducedModel)
523			{
524	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model humanoid_model;
525	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(humanoid_model);
526
527	2/4 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken. ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	static const std::vector<JointIndex> empty_index_vector;
528
529	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid_model.lowerPositionLimit.head<3>().fill(-1.);
530	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid_model.upperPositionLimit.head<3>().fill(1.);
531
532	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid_model.referenceConfigurations.insert(
533	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	std::pair<std::string, Eigen::VectorXd>("neutral", neutral(humanoid_model)));
534	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd reference_config_humanoid = randomConfiguration(humanoid_model);
535			Model humanoid_copy_model =
536	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(humanoid_model, empty_index_vector, reference_config_humanoid);
537
538	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(humanoid_copy_model.names == humanoid_model.names);
539	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(humanoid_copy_model.joints == humanoid_model.joints);
540	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(humanoid_copy_model == humanoid_model);
541	10/20 ✓ 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 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. ✗ Branch 39 not taken. ✓ Branch 40 taken 1 times.	2	BOOST_CHECK(
542			humanoid_copy_model.referenceConfigurations["neutral"].isApprox(neutral(humanoid_copy_model)));
543
544		2	std::vector<JointIndex> joints_to_lock;
545	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string joint1_to_lock = "rarm_shoulder2_joint";
546	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	joints_to_lock.push_back(humanoid_model.getJointId(joint1_to_lock));
547	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string joint2_to_lock = "larm_shoulder2_joint";
548	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	joints_to_lock.push_back(humanoid_model.getJointId(joint2_to_lock));
549
550			Model reduced_humanoid_model =
551	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(humanoid_model, joints_to_lock, reference_config_humanoid);
552	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(
553			reduced_humanoid_model.njoints == humanoid_model.njoints - (int)joints_to_lock.size());
554
555	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(reduced_humanoid_model != humanoid_model);
556
557	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model reduced_humanoid_model_other_signature;
558	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	buildReducedModel(
559			humanoid_model, joints_to_lock, reference_config_humanoid,
560			reduced_humanoid_model_other_signature);
561	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(reduced_humanoid_model == reduced_humanoid_model_other_signature);
562
563			// Check that forward kinematics give same results
564	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(humanoid_model), reduced_data(reduced_humanoid_model);
565	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q = reference_config_humanoid;
566	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd reduced_q(reduced_humanoid_model.nq);
567
568	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex joint_id = 1; joint_id < (JointIndex)reduced_humanoid_model.njoints; ++joint_id)
569			{
570			const JointIndex reference_joint_id =
571	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	humanoid_model.getJointId(reduced_humanoid_model.names[joint_id]);
572
573	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	reduced_humanoid_model.joints[joint_id].jointConfigSelector(reduced_q) =
574	2/4 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken.	108	humanoid_model.joints[reference_joint_id].jointConfigSelector(q);
575			}
576
577	10/20 ✓ 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 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. ✗ Branch 39 not taken. ✓ Branch 40 taken 1 times.	2	BOOST_CHECK(reduced_humanoid_model.referenceConfigurations["neutral"].isApprox(
578			neutral(reduced_humanoid_model)));
579
580	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	framesForwardKinematics(humanoid_model, data, q);
581	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	framesForwardKinematics(reduced_humanoid_model, reduced_data, reduced_q);
582
583	2/2 ✓ Branch 1 taken 70 times. ✓ Branch 2 taken 1 times.	142	for (size_t frame_id = 0; frame_id < reduced_humanoid_model.frames.size(); ++frame_id)
584			{
585		140	const Frame & reduced_frame = reduced_humanoid_model.frames[frame_id];
586	2/2 ✓ Branch 0 taken 30 times. ✓ Branch 1 taken 40 times.	140	switch (reduced_frame.type)
587			{
588		60	case JOINT:
589			case FIXED_JOINT: {
590			// May not be present in the original model
591	2/4 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 30 times. ✗ Branch 4 not taken.	60	if (humanoid_model.existJointName(reduced_frame.name))
592			{
593	1/2 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken.	60	const JointIndex joint_id = humanoid_model.getJointId(reduced_frame.name);
594	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 17 taken 30 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 30 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 30 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 30 times.	60	BOOST_CHECK(data.oMi[joint_id].isApprox(reduced_data.oMf[frame_id]));
595			}
596		✗	else if (humanoid_model.existFrame(reduced_frame.name))
597			{
598		✗	const FrameIndex humanoid_frame_id = humanoid_model.getFrameId(reduced_frame.name);
599		✗	BOOST_CHECK(data.oMf[humanoid_frame_id].isApprox(reduced_data.oMf[frame_id]));
600			}
601			else
602			{
603		✗	BOOST_CHECK_MESSAGE(
604			false, "The frame " << reduced_frame.name << " is not presend in the humanoid_model");
605			}
606		60	break;
607			}
608		✗	default: {
609	7/14 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 40 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 40 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 40 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 40 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 40 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 40 times.	80	BOOST_CHECK(humanoid_model.existFrame(reduced_frame.name));
610	1/2 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken.	80	const FrameIndex humanoid_frame_id = humanoid_model.getFrameId(reduced_frame.name);
611	7/14 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 40 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 40 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 40 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 40 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 40 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 40 times.	80	BOOST_CHECK(data.oMf[humanoid_frame_id].isApprox(reduced_data.oMf[frame_id]));
612		80	break;
613			}
614			}
615			}
616		2	}
617
618	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_aligned_vector_of_model)
619			{
620			typedef PINOCCHIO_ALIGNED_STD_VECTOR(Model) VectorOfModels;
621
622	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorOfModels models;
623	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	202	for (size_t k = 0; k < 100; ++k)
624			{
625	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	models.push_back(Model());
626	1/2 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken.	200	buildModels::humanoidRandom(models[k]);
627			}
628		2	}
629
630			#ifdef PINOCCHIO_WITH_HPP_FCL
631	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_buildReducedModel_with_geom)
632			{
633	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model humanoid_model;
634	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(humanoid_model);
635
636	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid_model.lowerPositionLimit.head<3>().fill(-1.);
637	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid_model.upperPositionLimit.head<3>().fill(1.);
638	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Eigen::VectorXd reference_config_humanoid = randomConfiguration(humanoid_model);
639
640	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel humanoid_geometry;
641	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidGeometries(humanoid_model, humanoid_geometry);
642
643	2/4 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken. ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	static const std::vector<JointIndex> empty_index_vector;
644
645	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model humanoid_copy_model;
646	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel humanoid_copy_geometry;
647	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(
648			humanoid_model, humanoid_geometry, empty_index_vector, reference_config_humanoid,
649			humanoid_copy_model, humanoid_copy_geometry);
650
651	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(humanoid_copy_model == humanoid_model);
652	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(humanoid_copy_geometry == humanoid_geometry);
653
654		2	std::vector<JointIndex> joints_to_lock;
655	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string joint1_to_lock = "rarm_shoulder2_joint";
656	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	joints_to_lock.push_back(humanoid_model.getJointId(joint1_to_lock));
657	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string joint2_to_lock = "larm_shoulder2_joint";
658	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	joints_to_lock.push_back(humanoid_model.getJointId(joint2_to_lock));
659
660	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model reduced_humanoid_model;
661	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel reduced_humanoid_geometry;
662	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(
663			humanoid_model, humanoid_geometry, joints_to_lock, reference_config_humanoid,
664			reduced_humanoid_model, reduced_humanoid_geometry);
665
666	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(reduced_humanoid_geometry.ngeoms == humanoid_geometry.ngeoms);
667	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(reduced_humanoid_geometry.collisionPairs == humanoid_geometry.collisionPairs);
668	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(
669			reduced_humanoid_geometry.geometryObjects.size() == humanoid_geometry.geometryObjects.size());
670
671	2/2 ✓ Branch 1 taken 27 times. ✓ Branch 2 taken 1 times.	56	for (Index i = 0; i < humanoid_geometry.geometryObjects.size(); ++i)
672			{
673		54	const GeometryObject & go1 = humanoid_geometry.geometryObjects[i];
674		54	const GeometryObject & go2 = reduced_humanoid_geometry.geometryObjects[i];
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680	5/10 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 27 times.	54	BOOST_CHECK_EQUAL(go1.meshColor, go2.meshColor);
681	5/10 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 27 times.	54	BOOST_CHECK_EQUAL(go1.meshTexturePath, go2.meshTexturePath);
682	5/10 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 27 times.	54	BOOST_CHECK_EQUAL(go1.parentFrame, go2.parentFrame);
683	5/10 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 27 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 27 times.	54	BOOST_CHECK_EQUAL(
684			humanoid_model.frames[go1.parentFrame].name,
685			reduced_humanoid_model.frames[go2.parentFrame].name);
686			}
687
688	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(humanoid_model), reduced_data(reduced_humanoid_model);
689	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Eigen::VectorXd q = reference_config_humanoid;
690	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd reduced_q(reduced_humanoid_model.nq);
691
692	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex joint_id = 1; joint_id < (JointIndex)reduced_humanoid_model.njoints; ++joint_id)
693			{
694			const JointIndex reference_joint_id =
695	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	humanoid_model.getJointId(reduced_humanoid_model.names[joint_id]);
696
697	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	reduced_humanoid_model.joints[joint_id].jointConfigSelector(reduced_q) =
698	2/4 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken.	108	humanoid_model.joints[reference_joint_id].jointConfigSelector(q);
699			}
700
701	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	framesForwardKinematics(humanoid_model, data, q);
702	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	framesForwardKinematics(reduced_humanoid_model, reduced_data, reduced_q);
703
704	2/2 ✓ Branch 1 taken 70 times. ✓ Branch 2 taken 1 times.	142	for (size_t frame_id = 0; frame_id < reduced_humanoid_model.frames.size(); ++frame_id)
705			{
706		140	const Frame & reduced_frame = reduced_humanoid_model.frames[frame_id];
707	2/2 ✓ Branch 0 taken 30 times. ✓ Branch 1 taken 40 times.	140	switch (reduced_frame.type)
708			{
709		60	case JOINT:
710			case FIXED_JOINT: {
711			// May not be present in the original model
712	2/4 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 30 times. ✗ Branch 4 not taken.	60	if (humanoid_model.existJointName(reduced_frame.name))
713			{
714	1/2 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken.	60	const JointIndex joint_id = humanoid_model.getJointId(reduced_frame.name);
715	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 17 taken 30 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 30 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 30 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 30 times.	60	BOOST_CHECK(data.oMi[joint_id].isApprox(reduced_data.oMf[frame_id]));
716			}
717		✗	else if (humanoid_model.existFrame(reduced_frame.name))
718			{
719		✗	const FrameIndex humanoid_frame_id = humanoid_model.getFrameId(reduced_frame.name);
720		✗	BOOST_CHECK(data.oMf[humanoid_frame_id].isApprox(reduced_data.oMf[frame_id]));
721			}
722			else
723			{
724		✗	BOOST_CHECK_MESSAGE(
725			false, "The frame " << reduced_frame.name << " is not presend in the humanoid_model");
726			}
727		60	break;
728			}
729		✗	default: {
730	7/14 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 40 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 40 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 40 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 40 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 40 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 40 times.	80	BOOST_CHECK(humanoid_model.existFrame(reduced_frame.name));
731	1/2 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken.	80	const FrameIndex humanoid_frame_id = humanoid_model.getFrameId(reduced_frame.name);
732	7/14 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 40 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 40 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 40 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 40 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 40 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 40 times.	80	BOOST_CHECK(data.oMf[humanoid_frame_id].isApprox(reduced_data.oMf[frame_id]));
733		80	break;
734			}
735			}
736			}
737
738			// Test GeometryObject placements
739	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	GeometryData geom_data(humanoid_geometry), reduded_geom_data(reduced_humanoid_geometry);
740	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateGeometryPlacements(humanoid_model, data, humanoid_geometry, geom_data);
741	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateGeometryPlacements(
742			reduced_humanoid_model, reduced_data, reduced_humanoid_geometry, reduded_geom_data);
743
744	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(geom_data.oMg.size() == reduded_geom_data.oMg.size());
745	2/2 ✓ Branch 1 taken 27 times. ✓ Branch 2 taken 1 times.	56	for (FrameIndex i = 0; i < geom_data.oMg.size(); ++i)
746			{
747	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(geom_data.oMg[i].isApprox(reduded_geom_data.oMg[i]));
748			}
749
750			// Test other signature
751		4	std::vector<GeometryModel> full_geometry_models;
752	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	full_geometry_models.push_back(humanoid_geometry);
753	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	full_geometry_models.push_back(humanoid_geometry);
754	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	full_geometry_models.push_back(humanoid_geometry);
755
756		4	std::vector<GeometryModel> reduced_geometry_models;
757
758	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	Model reduced_humanoid_model_other_sig;
759	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(
760			humanoid_model, full_geometry_models, joints_to_lock, reference_config_humanoid,
761			reduced_humanoid_model_other_sig, reduced_geometry_models);
762
763	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(reduced_geometry_models[0] == reduced_humanoid_geometry);
764	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(reduced_geometry_models[1] == reduced_humanoid_geometry);
765	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(reduced_geometry_models[2] == reduced_humanoid_geometry);
766		2	}
767			#endif // PINOCCHIO_WITH_HPP_FCL
768
769	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_findCommonAncestor)
770			{
771	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
772	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(model);
773
774			{
775			size_t id_ancestor1, id_ancestor2;
776	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointIndex ancestor = findCommonAncestor(model, 0, 0, id_ancestor1, id_ancestor2);
777	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(ancestor == 0);
778	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(id_ancestor1 == 0);
779	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(id_ancestor2 == 0);
780			}
781
782			{
783			size_t id_ancestor1, id_ancestor2;
784			JointIndex ancestor =
785	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	findCommonAncestor(model, 0, (JointIndex)(model.njoints - 1), id_ancestor1, id_ancestor2);
786	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(ancestor == 0);
787	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(id_ancestor1 == 0);
788	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(id_ancestor2 == 0);
789			}
790
791			{
792			size_t id_ancestor1, id_ancestor2;
793			JointIndex ancestor =
794	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	findCommonAncestor(model, (JointIndex)(model.njoints - 1), 0, id_ancestor1, id_ancestor2);
795	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(ancestor == 0);
796	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(id_ancestor1 == 0);
797	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(id_ancestor2 == 0);
798			}
799
800			{
801			size_t id_ancestor1, id_ancestor2;
802			JointIndex ancestor =
803	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	findCommonAncestor(model, (JointIndex)(model.njoints - 1), 1, id_ancestor1, id_ancestor2);
804	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(ancestor == 1);
805	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.supports[(JointIndex)(model.njoints - 1)][id_ancestor1] == ancestor);
806	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.supports[1][id_ancestor2] == ancestor);
807			}
808		2	}
809
810	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_has_configuration_limit)
811			{
812			using namespace Eigen;
813
814			// Test joint specific function hasConfigurationLimit
815	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelFreeFlyer test_joint_ff = JointModelFreeFlyer();
816	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> cf_limits_ff = test_joint_ff.hasConfigurationLimit();
817	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> cf_limits_tangent_ff = test_joint_ff.hasConfigurationLimitInTangent();
818	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<bool> expected_cf_limits_ff({true, true, true, false, false, false, false});
819	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<bool> expected_cf_limits_tangent_ff({true, true, true, false, false, false});
820	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(cf_limits_ff == expected_cf_limits_ff);
821	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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(cf_limits_tangent_ff == expected_cf_limits_tangent_ff);
822
823	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelPlanar test_joint_planar = JointModelPlanar();
824	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> cf_limits_planar = test_joint_planar.hasConfigurationLimit();
825	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> cf_limits_tangent_planar = test_joint_planar.hasConfigurationLimitInTangent();
826	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<bool> expected_cf_limits_planar({true, true, false, false});
827	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<bool> expected_cf_limits_tangent_planar({true, true, false});
828	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(cf_limits_planar == expected_cf_limits_planar);
829	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(cf_limits_tangent_planar == expected_cf_limits_tangent_planar);
830
831	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelPX test_joint_p = JointModelPX();
832	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> cf_limits_prismatic = test_joint_p.hasConfigurationLimit();
833	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> cf_limits_tangent_prismatic = test_joint_p.hasConfigurationLimitInTangent();
834	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<bool> expected_cf_limits_prismatic({true});
835	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<bool> expected_cf_limits_tangent_prismatic({true});
836	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(cf_limits_prismatic == expected_cf_limits_prismatic);
837	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(cf_limits_tangent_prismatic == expected_cf_limits_tangent_prismatic);
838
839			// Test model.hasConfigurationLimit() function
840	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
841		2	JointIndex jointId = 0;
842
843	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	jointId = model.addJoint(jointId, JointModelFreeFlyer(), SE3::Identity(), "Joint0");
844	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	jointId = model.addJoint(jointId, JointModelRZ(), SE3::Identity(), "Joint1");
845	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.	6	jointId = model.addJoint(
846	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.	4	jointId, JointModelRUBZ(), SE3(Matrix3d::Identity(), Vector3d(1.0, 0.0, 0.0)), "Joint2");
847
848			std::vector<bool> expected_cf_limits_model(
849			{true, true, true, // translation of FF
850			false, false, false, false, // rotation of FF
851			true, // roational joint
852	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	false, false}); // unbounded rotational joint
853	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> model_cf_limits = model.hasConfigurationLimit();
854	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_cf_limits == expected_cf_limits_model));
855
856			// Test model.hasConfigurationLimitInTangent() function
857			std::vector<bool> expected_cf_limits_tangent_model(
858			{true, true, true, // translation of FF
859			false, false, false, // rotation of FF
860			true, // roational joint
861	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	false}); // unbounded rotational joint
862	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> model_cf_limits_tangent = model.hasConfigurationLimitInTangent();
863	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_cf_limits_tangent == expected_cf_limits_tangent_model));
864		2	}
865
866			BOOST_AUTO_TEST_SUITE_END()
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