GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	252	252	100.0%
Branches:	778	1534	50.7%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2018-2024 CNRS INRIA
3			//
4
5			#include "pinocchio/spatial/fwd.hpp"
6			#include "pinocchio/spatial/explog.hpp"
7			#include "pinocchio/algorithm/regressor.hpp"
8			#include "pinocchio/algorithm/rnea.hpp"
9			#include "pinocchio/algorithm/frames.hpp"
10			#include "pinocchio/algorithm/joint-configuration.hpp"
11			#include "pinocchio/algorithm/center-of-mass.hpp"
12			#include "pinocchio/multibody/sample-models.hpp"
13			#include "pinocchio/algorithm/compute-all-terms.hpp"
14
15			#include <iostream>
16
17			#include <boost/test/unit_test.hpp>
18			#include <boost/utility/binary.hpp>
19
20			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
21
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23			{
24			using namespace Eigen;
25			using namespace pinocchio;
26
27	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
28	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
29
30	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
31	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
32
33	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<7>().fill(-1.);
34	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<7>().fill(1.);
35
36			// const std::string joint_name = "larm5_joint";
37			// const JointIndex joint_id = model.getJointId(joint_name);
38
39	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const VectorXd q = randomConfiguration(model);
40
41	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q);
42
43		2	const double eps = 1e-8;
44	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)
45			{
46	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	Data::Matrix6x kinematic_regressor_L(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
47	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	Data::Matrix6x kinematic_regressor_LWA(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
48	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	Data::Matrix6x kinematic_regressor_W(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
49
50	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	Data::Matrix6x kinematic_regressor_L_fd(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
51	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	Data::Matrix6x kinematic_regressor_LWA_fd(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
52	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	Data::Matrix6x kinematic_regressor_W_fd(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
53
54	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	computeJointKinematicRegressor(model, data, joint_id, LOCAL, kinematic_regressor_L);
55	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	computeJointKinematicRegressor(
56			model, data, joint_id, LOCAL_WORLD_ALIGNED, kinematic_regressor_LWA);
57	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	computeJointKinematicRegressor(model, data, joint_id, WORLD, kinematic_regressor_W);
58
59	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	Model model_plus = model;
60	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	Data data_plus(model_plus);
61		54	const SE3 & oMi = data.oMi[joint_id];
62	3/6 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 27 times. ✗ Branch 8 not taken.	54	const SE3 Mi_LWA = SE3(oMi.rotation(), SE3::Vector3::Zero());
63		54	const SE3 & oMi_plus = data_plus.oMi[joint_id];
64	2/2 ✓ Branch 0 taken 729 times. ✓ Branch 1 taken 27 times.	1512	for (int i = 1; i < model.njoints; ++i)
65			{
66	2/4 ✓ Branch 1 taken 729 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 729 times. ✗ Branch 5 not taken.	1458	Motion::Vector6 v = Motion::Vector6::Zero();
67		1458	const SE3 & M_placement = model.jointPlacements[(JointIndex)i];
68		1458	SE3 & M_placement_plus = model_plus.jointPlacements[(JointIndex)i];
69	2/2 ✓ Branch 0 taken 4374 times. ✓ Branch 1 taken 729 times.	10206	for (Eigen::DenseIndex k = 0; k < 6; ++k)
70			{
71	1/2 ✓ Branch 1 taken 4374 times. ✗ Branch 2 not taken.	8748	v[k] = eps;
72	4/8 ✓ Branch 1 taken 4374 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4374 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4374 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 4374 times. ✗ Branch 11 not taken.	8748	M_placement_plus = M_placement * exp6(Motion(v));
73
74	1/2 ✓ Branch 1 taken 4374 times. ✗ Branch 2 not taken.	8748	forwardKinematics(model_plus, data_plus, q);
75
76	2/4 ✓ Branch 1 taken 4374 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4374 times. ✗ Branch 5 not taken.	8748	const Motion diff_L = log6(oMi.actInv(oMi_plus));
77	5/10 ✓ Branch 1 taken 4374 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4374 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4374 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 4374 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 4374 times. ✗ Branch 14 not taken.	8748	kinematic_regressor_L_fd.middleCols<6>(6 * (i - 1)).col(k) = diff_L.toVector() / eps;
78	1/2 ✓ Branch 1 taken 4374 times. ✗ Branch 2 not taken.	8748	const Motion diff_LWA = Mi_LWA.act(diff_L);
79	5/10 ✓ Branch 1 taken 4374 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4374 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4374 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 4374 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 4374 times. ✗ Branch 14 not taken.	8748	kinematic_regressor_LWA_fd.middleCols<6>(6 * (i - 1)).col(k) = diff_LWA.toVector() / eps;
80	1/2 ✓ Branch 1 taken 4374 times. ✗ Branch 2 not taken.	8748	const Motion diff_W = oMi.act(diff_L);
81	5/10 ✓ Branch 1 taken 4374 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4374 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4374 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 4374 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 4374 times. ✗ Branch 14 not taken.	8748	kinematic_regressor_W_fd.middleCols<6>(6 * (i - 1)).col(k) = diff_W.toVector() / eps;
82	1/2 ✓ Branch 1 taken 4374 times. ✗ Branch 2 not taken.	8748	v[k] = 0.;
83			}
84
85	1/2 ✓ Branch 1 taken 729 times. ✗ Branch 2 not taken.	1458	M_placement_plus = M_placement;
86			}
87
88	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 14 taken 27 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 27 times.	54	BOOST_CHECK(kinematic_regressor_L.isApprox(kinematic_regressor_L_fd, sqrt(eps)));
89	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 14 taken 27 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 27 times.	54	BOOST_CHECK(kinematic_regressor_LWA.isApprox(kinematic_regressor_LWA_fd, sqrt(eps)));
90	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 14 taken 27 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 27 times.	54	BOOST_CHECK(kinematic_regressor_W.isApprox(kinematic_regressor_W_fd, sqrt(eps)));
91		54	}
92		2	}
93
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95			{
96			using namespace Eigen;
97			using namespace pinocchio;
98
99	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
101
102	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
104
105	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<7>().fill(-1.);
106	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<7>().fill(1.);
107
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const VectorXd q = randomConfiguration(model);
109
110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q);
111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q);
112
113	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)
114			{
115	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	Data::Matrix6x kinematic_regressor_L(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
116	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	Data::Matrix6x kinematic_regressor_LWA(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
117	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	Data::Matrix6x kinematic_regressor_W(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
118
119	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	computeJointKinematicRegressor(
120	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	model, data, joint_id, LOCAL, SE3::Identity(), kinematic_regressor_L);
121	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	computeJointKinematicRegressor(
122	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	model, data, joint_id, LOCAL_WORLD_ALIGNED, SE3::Identity(), kinematic_regressor_LWA);
123	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	computeJointKinematicRegressor(
124	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	model, data, joint_id, WORLD, SE3::Identity(), kinematic_regressor_W);
125
126	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	Data::Matrix6x kinematic_regressor_L_ref(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
127	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	Data::Matrix6x kinematic_regressor_LWA_ref(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
128	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	Data::Matrix6x kinematic_regressor_W_ref(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
129
130	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	computeJointKinematicRegressor(model, data_ref, joint_id, LOCAL, kinematic_regressor_L_ref);
131	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	computeJointKinematicRegressor(
132			model, data_ref, joint_id, LOCAL_WORLD_ALIGNED, kinematic_regressor_LWA_ref);
133	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	computeJointKinematicRegressor(model, data_ref, joint_id, WORLD, kinematic_regressor_W_ref);
134
135	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 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 27 times.	54	BOOST_CHECK(kinematic_regressor_L.isApprox(kinematic_regressor_L_ref));
136	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 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 27 times.	54	BOOST_CHECK(kinematic_regressor_LWA.isApprox(kinematic_regressor_LWA_ref));
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138		54	}
139		2	}
140
141	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_kinematic_regressor_frame)
142			{
143			using namespace Eigen;
144			using namespace pinocchio;
145
146	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
147	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
148
149	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<7>().fill(-1.);
150	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<7>().fill(1.);
151
152	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string joint_name = "larm5_joint";
153	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const JointIndex joint_id = model.getJointId(joint_name);
154	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.	2	model.addBodyFrame("test_body", joint_id, SE3::Random(), -1);
155
156	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
157	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
158
159	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const VectorXd q = randomConfiguration(model);
160
161	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q);
162	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data);
163	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q);
164
165		2	const double eps = 1e-8;
166	2/2 ✓ Branch 0 taken 55 times. ✓ Branch 1 taken 1 times.	112	for (FrameIndex frame_id = 1; frame_id < (FrameIndex)model.nframes; ++frame_id)
167			{
168		110	const Frame & frame = model.frames[frame_id];
169
170	2/4 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 55 times. ✗ Branch 5 not taken.	110	Data::Matrix6x kinematic_regressor_L(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
171	2/4 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 55 times. ✗ Branch 5 not taken.	110	Data::Matrix6x kinematic_regressor_LWA(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
172	2/4 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 55 times. ✗ Branch 5 not taken.	110	Data::Matrix6x kinematic_regressor_W(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
173
174	1/2 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken.	110	computeFrameKinematicRegressor(model, data, frame_id, LOCAL, kinematic_regressor_L);
175	1/2 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken.	110	computeFrameKinematicRegressor(
176			model, data, frame_id, LOCAL_WORLD_ALIGNED, kinematic_regressor_LWA);
177	1/2 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken.	110	computeFrameKinematicRegressor(model, data, frame_id, WORLD, kinematic_regressor_W);
178
179	2/4 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 55 times. ✗ Branch 5 not taken.	110	Data::Matrix6x kinematic_regressor_L_ref(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
180	2/4 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 55 times. ✗ Branch 5 not taken.	110	Data::Matrix6x kinematic_regressor_LWA_ref(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
181	2/4 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 55 times. ✗ Branch 5 not taken.	110	Data::Matrix6x kinematic_regressor_W_ref(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
182
183		110	computeJointKinematicRegressor(
184	1/2 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken.	110	model, data_ref, frame.parentJoint, LOCAL, frame.placement, kinematic_regressor_L_ref);
185		110	computeJointKinematicRegressor(
186	1/2 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken.	110	model, data_ref, frame.parentJoint, LOCAL_WORLD_ALIGNED, frame.placement,
187			kinematic_regressor_LWA_ref);
188		110	computeJointKinematicRegressor(
189	1/2 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken.	110	model, data_ref, frame.parentJoint, WORLD, frame.placement, kinematic_regressor_W_ref);
190
191	7/14 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 55 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 55 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 55 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 55 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 55 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 55 times.	110	BOOST_CHECK(kinematic_regressor_L.isApprox(kinematic_regressor_L_ref));
192	7/14 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 55 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 55 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 55 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 55 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 55 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 55 times.	110	BOOST_CHECK(kinematic_regressor_LWA.isApprox(kinematic_regressor_LWA_ref));
193	7/14 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 55 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 55 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 55 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 55 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 55 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 55 times.	110	BOOST_CHECK(kinematic_regressor_W.isApprox(kinematic_regressor_W_ref));
194
195	2/4 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 55 times. ✗ Branch 5 not taken.	110	Data::Matrix6x kinematic_regressor_L_fd(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
196	2/4 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 55 times. ✗ Branch 5 not taken.	110	Data::Matrix6x kinematic_regressor_LWA_fd(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
197	2/4 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 55 times. ✗ Branch 5 not taken.	110	Data::Matrix6x kinematic_regressor_W_fd(Data::Matrix6x::Zero(6, 6 * (model.njoints - 1)));
198
199	1/2 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken.	110	Model model_plus = model;
200	1/2 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken.	110	Data data_plus(model_plus);
201		110	const SE3 & oMf = data.oMf[frame_id];
202	3/6 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 55 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 55 times. ✗ Branch 8 not taken.	110	const SE3 Mf_LWA = SE3(oMf.rotation(), SE3::Vector3::Zero());
203		110	const SE3 & oMf_plus = data_plus.oMf[frame_id];
204	2/2 ✓ Branch 0 taken 1485 times. ✓ Branch 1 taken 55 times.	3080	for (int i = 1; i < model.njoints; ++i)
205			{
206	2/4 ✓ Branch 1 taken 1485 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1485 times. ✗ Branch 5 not taken.	2970	Motion::Vector6 v = Motion::Vector6::Zero();
207		2970	const SE3 & M_placement = model.jointPlacements[(JointIndex)i];
208		2970	SE3 & M_placement_plus = model_plus.jointPlacements[(JointIndex)i];
209	2/2 ✓ Branch 0 taken 8910 times. ✓ Branch 1 taken 1485 times.	20790	for (Eigen::DenseIndex k = 0; k < 6; ++k)
210			{
211	1/2 ✓ Branch 1 taken 8910 times. ✗ Branch 2 not taken.	17820	v[k] = eps;
212	4/8 ✓ Branch 1 taken 8910 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8910 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8910 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 8910 times. ✗ Branch 11 not taken.	17820	M_placement_plus = M_placement * exp6(Motion(v));
213
214	1/2 ✓ Branch 1 taken 8910 times. ✗ Branch 2 not taken.	17820	forwardKinematics(model_plus, data_plus, q);
215	1/2 ✓ Branch 1 taken 8910 times. ✗ Branch 2 not taken.	17820	updateFramePlacements(model_plus, data_plus);
216
217	2/4 ✓ Branch 1 taken 8910 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8910 times. ✗ Branch 5 not taken.	17820	const Motion diff_L = log6(oMf.actInv(oMf_plus));
218	5/10 ✓ Branch 1 taken 8910 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8910 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8910 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 8910 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 8910 times. ✗ Branch 14 not taken.	17820	kinematic_regressor_L_fd.middleCols<6>(6 * (i - 1)).col(k) = diff_L.toVector() / eps;
219	1/2 ✓ Branch 1 taken 8910 times. ✗ Branch 2 not taken.	17820	const Motion diff_LWA = Mf_LWA.act(diff_L);
220	5/10 ✓ Branch 1 taken 8910 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8910 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8910 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 8910 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 8910 times. ✗ Branch 14 not taken.	17820	kinematic_regressor_LWA_fd.middleCols<6>(6 * (i - 1)).col(k) = diff_LWA.toVector() / eps;
221	1/2 ✓ Branch 1 taken 8910 times. ✗ Branch 2 not taken.	17820	const Motion diff_W = oMf.act(diff_L);
222	5/10 ✓ Branch 1 taken 8910 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8910 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8910 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 8910 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 8910 times. ✗ Branch 14 not taken.	17820	kinematic_regressor_W_fd.middleCols<6>(6 * (i - 1)).col(k) = diff_W.toVector() / eps;
223	1/2 ✓ Branch 1 taken 8910 times. ✗ Branch 2 not taken.	17820	v[k] = 0.;
224			}
225
226	1/2 ✓ Branch 1 taken 1485 times. ✗ Branch 2 not taken.	2970	M_placement_plus = M_placement;
227			}
228
229	7/14 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 55 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 55 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 55 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 55 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 55 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 55 times.	110	BOOST_CHECK(kinematic_regressor_L.isApprox(kinematic_regressor_L_fd, sqrt(eps)));
230	7/14 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 55 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 55 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 55 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 55 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 55 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 55 times.	110	BOOST_CHECK(kinematic_regressor_LWA.isApprox(kinematic_regressor_LWA_fd, sqrt(eps)));
231	7/14 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 55 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 55 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 55 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 55 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 55 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 55 times.	110	BOOST_CHECK(kinematic_regressor_W.isApprox(kinematic_regressor_W_fd, sqrt(eps)));
232		110	}
233		2	}
234
235	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_static_regressor)
236			{
237			using namespace Eigen;
238			using namespace pinocchio;
239
240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
241	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
242
243	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
245
246	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<7>().fill(-1.);
247	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<7>().fill(1.);
248
249	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
250	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeStaticRegressor(model, data, q);
251
252	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd phi(4 * (model.njoints - 1));
253	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (int k = 1; k < model.njoints; ++k)
254			{
255		54	const Inertia & Y = model.inertias[(size_t)k];
256	4/8 ✓ 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.	54	phi.segment<4>(4 * (k - 1)) << Y.mass(), Y.mass() * Y.lever();
257			}
258
259	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3d com = centerOfMass(model, data_ref, q);
260	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector3d static_com_ref;
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	static_com_ref << com;
262
263	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3d static_com = data.staticRegressor * phi;
264
265	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(static_com.isApprox(static_com_ref));
266		2	}
267
268	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_body_regressor)
269			{
270			using namespace Eigen;
271			using namespace pinocchio;
272
273	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Inertia I(Inertia::Random());
274	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v(Motion::Random());
275	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion a(Motion::Random());
276
277	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Force f = I * a + I.vxiv(v);
278
279	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::Vector6 f_regressor = bodyRegressor(v, a) * I.toDynamicParameters();
280
281	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 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 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(f_regressor.isApprox(f.toVector()));
282		2	}
283
284	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_joint_body_regressor)
285			{
286			using namespace Eigen;
287			using namespace pinocchio;
288
289	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
290	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::manipulator(model);
291	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
292
293		2	JointIndex JOINT_ID = JointIndex(model.njoints) - 1;
294
295	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
296	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = Eigen::VectorXd::Random(model.nv);
297	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a = Eigen::VectorXd::Random(model.nv);
298
299	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data, q, v, a);
300
301	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Force f = data.f[JOINT_ID];
302
303			Inertia::Vector6 f_regressor =
304	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	jointBodyRegressor(model, data, JOINT_ID) * model.inertias[JOINT_ID].toDynamicParameters();
305
306	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 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 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(f_regressor.isApprox(f.toVector()));
307		2	}
308
309	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_frame_body_regressor)
310			{
311			using namespace Eigen;
312			using namespace pinocchio;
313
314	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
315	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::manipulator(model);
316
317		2	JointIndex JOINT_ID = JointIndex(model.njoints) - 1;
318
319	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
320	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	FrameIndex FRAME_ID = model.addBodyFrame("test_body", JOINT_ID, framePlacement, -1);
321
322	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
323
324	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
325	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = Eigen::VectorXd::Random(model.nv);
326	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a = Eigen::VectorXd::Random(model.nv);
327
328	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data, q, v, a);
329
330	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Force f = framePlacement.actInv(data.f[JOINT_ID]);
331	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Inertia I = framePlacement.actInv(model.inertias[JOINT_ID]);
332
333			Inertia::Vector6 f_regressor =
334	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	frameBodyRegressor(model, data, FRAME_ID) * I.toDynamicParameters();
335
336	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 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 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(f_regressor.isApprox(f.toVector()));
337		2	}
338
339	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_joint_torque_regressor)
340			{
341			using namespace Eigen;
342			using namespace pinocchio;
343
344	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
345	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
346
347	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<7>().fill(-1.);
348	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<7>().fill(1.);
349
350	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
351	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
352
353	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
354	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = Eigen::VectorXd::Random(model.nv);
355	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a = Eigen::VectorXd::Random(model.nv);
356
357	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data_ref, q, v, a);
358
359	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd params(10 * (model.njoints - 1));
360	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
361	3/6 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 27 times. ✗ Branch 9 not taken.	54	params.segment<10>((int)((i - 1) * 10)) = model.inertias[i].toDynamicParameters();
362
363	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointTorqueRegressor(model, data, q, v, a);
364
365	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd tau_regressor = data.jointTorqueRegressor * params;
366
367	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(tau_regressor.isApprox(data_ref.tau));
368		2	}
369
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371			{
372			using namespace Eigen;
373			using namespace pinocchio;
374
375	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
376	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
377
378	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<7>().fill(-1.);
379	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<7>().fill(1.);
380
381	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
382	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
383
384	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const VectorXd q = randomConfiguration(model);
385	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const VectorXd v = Eigen::VectorXd::Random(model.nv);
386
387	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeAllTerms(model, data_ref, q, v);
388	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto target_energy = computeKineticEnergy(model, data_ref);
389
390	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const auto regressor = computeKineticEnergyRegressor(model, data, q, v);
391
392	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd params(10 * (model.njoints - 1));
393	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
394	3/6 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 27 times. ✗ Branch 9 not taken.	54	params.segment<10>(Eigen::DenseIndex((i - 1) * 10)) = model.inertias[i].toDynamicParameters();
395
396	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const double kinetic_energy_regressor = data.kineticEnergyRegressor * params;
397
398	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(kinetic_energy_regressor, target_energy, 1e-12);
399		2	}
400
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402			{
403			using namespace Eigen;
404			using namespace pinocchio;
405
406	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
407	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
408
409	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<7>().fill(-1.);
410	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<7>().fill(1.);
411
412	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
413	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
414
415	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const VectorXd q = randomConfiguration(model);
416	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const VectorXd v = Eigen::VectorXd::Random(model.nv);
417
418	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeAllTerms(model, data_ref, q, v);
419	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const double target_energy = computePotentialEnergy(model, data_ref);
420
421	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd params(10 * (model.njoints - 1));
422	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
423	3/6 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 27 times. ✗ Branch 9 not taken.	54	params.segment<10>(Eigen::DenseIndex((i - 1) * 10)) = model.inertias[i].toDynamicParameters();
424
425	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computePotentialEnergyRegressor(model, data, q);
426	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const double potential_energy_regressor = data.potentialEnergyRegressor * params;
427
428	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(potential_energy_regressor, target_energy, 1e-12);
429		2	}
430
431			BOOST_AUTO_TEST_SUITE_END()
432