GCC Code Coverage Report

Directory:	./
File:	unittest/casadi/rnea-derivatives.cpp
Date:	2025-02-12 21:03:38

	Exec	Total	Coverage
Lines:	92	92	100.0%
Branches:	309	616	50.2%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019-2020 INRIA
3			//
4
5			#include "pinocchio/autodiff/casadi.hpp"
6			#include "pinocchio/autodiff/casadi-algo.hpp"
7
8			#include "pinocchio/algorithm/rnea.hpp"
9			#include "pinocchio/algorithm/rnea-derivatives.hpp"
10			#include "pinocchio/algorithm/aba.hpp"
11			#include "pinocchio/algorithm/aba-derivatives.hpp"
12			#include "pinocchio/algorithm/joint-configuration.hpp"
13
14			#include "pinocchio/multibody/sample-models.hpp"
15
16			#include <casadi/casadi.hpp>
17
18			#include <iostream>
19			#include <boost/test/unit_test.hpp>
20			#include <boost/utility/binary.hpp>
21
22			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
23
24	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_rnea_derivatives)
25			{
26			typedef double Scalar;
27			typedef casadi::SX ADScalar;
28
29			typedef pinocchio::ModelTpl<Scalar> Model;
30			typedef Model::Data Data;
31
32			typedef pinocchio::ModelTpl<ADScalar> ADModel;
33			typedef ADModel::Data ADData;
34
35	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
36	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
37	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
38	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
39	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
40
41			typedef Model::ConfigVectorType ConfigVector;
42			typedef Model::TangentVectorType TangentVector;
43	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConfigVector q(model.nq);
44	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q = pinocchio::randomConfiguration(model);
45	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	TangentVector v(TangentVector::Random(model.nv));
46	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	TangentVector a(TangentVector::Random(model.nv));
47
48			typedef ADModel::ConfigVectorType ConfigVectorAD;
49			typedef ADModel::TangentVectorType TangentVectorAD;
50	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ADModel ad_model = model.cast<ADScalar>();
51	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ADData ad_data(ad_model);
52
53	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::rnea(model, data, q, v, a);
54
55	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX cs_q = casadi::SX::sym("q", model.nq);
56	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX cs_v_int = casadi::SX::sym("v_inc", model.nv);
57
58	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	ConfigVectorAD q_ad(model.nq), v_int_ad(model.nv), q_int_ad(model.nq);
59	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	2	q_ad = Eigen::Map<ConfigVectorAD>(static_cast<std::vector<ADScalar>>(cs_q).data(), model.nq, 1);
60			v_int_ad =
61	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	2	Eigen::Map<ConfigVectorAD>(static_cast<std::vector<ADScalar>>(cs_v_int).data(), model.nv, 1);
62
63	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::integrate(ad_model, q_ad, v_int_ad, q_int_ad);
64	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	casadi::SX cs_q_int(model.nq, 1);
65	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::casadi::copy(q_int_ad, cs_q_int);
66	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<double> q_vec((size_t)model.nq);
67	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	Eigen::Map<ConfigVector>(q_vec.data(), model.nq, 1) = q;
68
69	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<double> v_int_vec((size_t)model.nv);
70	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	Eigen::Map<TangentVector>(v_int_vec.data(), model.nv, 1).setZero();
71
72	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX cs_v = casadi::SX::sym("v", model.nv);
73	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TangentVectorAD v_ad(model.nv);
74	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	2	v_ad = Eigen::Map<TangentVectorAD>(static_cast<std::vector<ADScalar>>(cs_v).data(), model.nv, 1);
75
76	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX cs_a = casadi::SX::sym("a", model.nv);
77	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TangentVectorAD a_ad(model.nv);
78	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	2	a_ad = Eigen::Map<TangentVectorAD>(static_cast<std::vector<ADScalar>>(cs_a).data(), model.nv, 1);
79
80	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(ad_model, ad_data, q_int_ad, v_ad, a_ad);
81	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	casadi::SX cs_tau(model.nv, 1);
82	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (Eigen::DenseIndex k = 0; k < model.nv; ++k)
83			{
84	3/6 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 32 times. ✗ Branch 8 not taken.	64	cs_tau(k) = ad_data.tau[k];
85			}
86			casadi::Function eval_rnea(
87	9/18 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken.	18	"eval_rnea", casadi::SXVector{cs_q, cs_v_int, cs_v, cs_a}, casadi::SXVector{cs_tau});
88
89	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<double> v_vec((size_t)model.nv);
90	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	Eigen::Map<TangentVector>(v_vec.data(), model.nv, 1) = v;
91
92	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<double> a_vec((size_t)model.nv);
93	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	Eigen::Map<TangentVector>(a_vec.data(), model.nv, 1) = a;
94
95			// check return value
96	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken.	12	casadi::DM tau_res = eval_rnea(casadi::DMVector{q_vec, v_int_vec, v_vec, a_vec})[0];
97	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	6	Data::TangentVectorType tau_vec = Eigen::Map<Data::TangentVectorType>(
98	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	6	static_cast<std::vector<double>>(tau_res).data(), model.nv, 1);
99
100	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(data.tau.isApprox(tau_vec));
101
102			// compute references
103	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::MatrixXs dtau_dq_ref(model.nv, model.nv), dtau_dv_ref(model.nv, model.nv),
104	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dtau_da_ref(model.nv, model.nv);
105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dtau_dq_ref.setZero();
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dtau_dv_ref.setZero();
107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dtau_da_ref.setZero();
108
109	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::computeRNEADerivatives(model, data, q, v, a, dtau_dq_ref, dtau_dv_ref, dtau_da_ref);
110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dtau_da_ref.triangularView<Eigen::StrictlyLower>() =
111	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.	4	dtau_da_ref.transpose().triangularView<Eigen::StrictlyLower>();
112
113			// check with respect to q+dq
114	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	casadi::SX dtau_dq = jacobian(cs_tau, cs_v_int);
115			casadi::Function eval_dtau_dq(
116	9/18 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken.	18	"eval_dtau_dq", casadi::SXVector{cs_q, cs_v_int, cs_v, cs_a}, casadi::SXVector{dtau_dq});
117
118	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken.	12	casadi::DM dtau_dq_res = eval_dtau_dq(casadi::DMVector{q_vec, v_int_vec, v_vec, a_vec})[0];
119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<double> dtau_dq_vec(static_cast<std::vector<double>>(dtau_dq_res));
120	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 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(
121			Eigen::Map<Data::MatrixXs>(dtau_dq_vec.data(), model.nv, model.nv).isApprox(dtau_dq_ref));
122
123			// check with respect to v+dv
124	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	casadi::SX dtau_dv = jacobian(cs_tau, cs_v);
125			casadi::Function eval_dtau_dv(
126	9/18 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken.	18	"eval_dtau_dv", casadi::SXVector{cs_q, cs_v_int, cs_v, cs_a}, casadi::SXVector{dtau_dv});
127
128	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken.	12	casadi::DM dtau_dv_res = eval_dtau_dv(casadi::DMVector{q_vec, v_int_vec, v_vec, a_vec})[0];
129	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<double> dtau_dv_vec(static_cast<std::vector<double>>(dtau_dv_res));
130	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 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(
131			Eigen::Map<Data::MatrixXs>(dtau_dv_vec.data(), model.nv, model.nv).isApprox(dtau_dv_ref));
132
133			// check with respect to a+da
134	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	casadi::SX dtau_da = jacobian(cs_tau, cs_a);
135			casadi::Function eval_dtau_da(
136	9/18 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken.	18	"eval_dtau_da", casadi::SXVector{cs_q, cs_v_int, cs_v, cs_a}, casadi::SXVector{dtau_da});
137
138	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken.	12	casadi::DM dtau_da_res = eval_dtau_da(casadi::DMVector{q_vec, v_int_vec, v_vec, a_vec})[0];
139	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<double> dtau_da_vec(static_cast<std::vector<double>>(dtau_da_res));
140	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 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(
141			Eigen::Map<Data::MatrixXs>(dtau_da_vec.data(), model.nv, model.nv).isApprox(dtau_da_ref));
142
143			// call RNEA derivatives in Casadi
144	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	casadi::SX cs_dtau_dq(model.nv, model.nv);
145	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	casadi::SX cs_dtau_dv(model.nv, model.nv);
146	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	casadi::SX cs_dtau_da(model.nv, model.nv);
147
148	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeRNEADerivatives(ad_model, ad_data, q_ad, v_ad, a_ad);
149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ad_data.M.triangularView<Eigen::StrictlyLower>() =
150	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.	4	ad_data.M.transpose().triangularView<Eigen::StrictlyLower>();
151
152	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::casadi::copy(ad_data.dtau_dq, cs_dtau_dq);
153	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::casadi::copy(ad_data.dtau_dv, cs_dtau_dv);
154	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::casadi::copy(ad_data.M, cs_dtau_da);
155
156			casadi::Function eval_rnea_derivatives_dq(
157	8/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken.	16	"eval_rnea_derivatives_dq", casadi::SXVector{cs_q, cs_v, cs_a}, casadi::SXVector{cs_dtau_dq});
158
159			casadi::DM dtau_dq_res_direct =
160	6/12 ✓ 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 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken.	10	eval_rnea_derivatives_dq(casadi::DMVector{q_vec, v_vec, a_vec})[0];
161	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	6	Data::MatrixXs dtau_dq_res_direct_map = Eigen::Map<Data::MatrixXs>(
162	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	6	static_cast<std::vector<double>>(dtau_dq_res_direct).data(), model.nv, model.nv);
163	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(dtau_dq_ref.isApprox(dtau_dq_res_direct_map));
164
165			casadi::Function eval_rnea_derivatives_dv(
166	8/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken.	16	"eval_rnea_derivatives_dv", casadi::SXVector{cs_q, cs_v, cs_a}, casadi::SXVector{cs_dtau_dv});
167
168			casadi::DM dtau_dv_res_direct =
169	6/12 ✓ 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 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken.	10	eval_rnea_derivatives_dv(casadi::DMVector{q_vec, v_vec, a_vec})[0];
170	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	6	Data::MatrixXs dtau_dv_res_direct_map = Eigen::Map<Data::MatrixXs>(
171	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	6	static_cast<std::vector<double>>(dtau_dv_res_direct).data(), model.nv, model.nv);
172	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(dtau_dv_ref.isApprox(dtau_dv_res_direct_map));
173
174			casadi::Function eval_rnea_derivatives_da(
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176
177			casadi::DM dtau_da_res_direct =
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179	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	6	Data::MatrixXs dtau_da_res_direct_map = Eigen::Map<Data::MatrixXs>(
180	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	6	static_cast<std::vector<double>>(dtau_da_res_direct).data(), model.nv, model.nv);
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182		2	}
183
184			BOOST_AUTO_TEST_SUITE_END()
185