GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	325	325	100.0%
Branches:	1054	2068	51.0%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2017-2020 CNRS INRIA
3			//
4
5			#include "pinocchio/multibody/model.hpp"
6			#include "pinocchio/multibody/data.hpp"
7			#include "pinocchio/algorithm/jacobian.hpp"
8			#include "pinocchio/algorithm/joint-configuration.hpp"
9			#include "pinocchio/algorithm/kinematics.hpp"
10			#include "pinocchio/algorithm/kinematics-derivatives.hpp"
11			#include "pinocchio/algorithm/rnea.hpp"
12			#include "pinocchio/algorithm/rnea-derivatives.hpp"
13			#include "pinocchio/algorithm/crba.hpp"
14			#include "pinocchio/multibody/sample-models.hpp"
15
16			#include <iostream>
17
18			#include <boost/test/unit_test.hpp>
19			#include <boost/utility/binary.hpp>
20
21			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
22
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24			{
25			using namespace Eigen;
26			using namespace pinocchio;
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 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_fd(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<3>().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<3>().fill(1.);
35	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
36	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Zero(model.nv));
37	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(VectorXd::Zero(model.nv));
38
39			// Check againt non-derivative algo
40	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd g_partial_dq(model.nv, model.nv);
41	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	g_partial_dq.setZero();
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeGeneralizedGravityDerivatives(model, data, q, g_partial_dq);
43
44	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd g0 = computeGeneralizedGravity(model, data_fd, q);
45	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.g.isApprox(g0));
46
47	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd g_partial_dq_fd(model.nv, model.nv);
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	g_partial_dq_fd.setZero();
49
50	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v_eps(Eigen::VectorXd::Zero(model.nv));
51	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q_plus(model.nq);
52	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd g_plus(model.nv);
53		2	const double alpha = 1e-8;
54	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
55			{
56	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] += alpha;
57	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	q_plus = integrate(model, q, v_eps);
58	2/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken.	64	g_plus = computeGeneralizedGravity(model, data_fd, q_plus);
59
60	4/8 ✓ 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. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	g_partial_dq_fd.col(k) = (g_plus - g0) / alpha;
61	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] -= alpha;
62			}
63
64	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(g_partial_dq.isApprox(g_partial_dq_fd, sqrt(alpha)));
65		2	}
66
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68			{
69			using namespace Eigen;
70			using namespace pinocchio;
71
72	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
73	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
74
75	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_fd(model);
76
77	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.);
78	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.);
79	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
80
81			typedef PINOCCHIO_ALIGNED_STD_VECTOR(Force) ForceVector;
82	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ForceVector fext((size_t)model.njoints);
83	2/2 ✓ Branch 4 taken 28 times. ✓ Branch 5 taken 1 times.	58	for (ForceVector::iterator it = fext.begin(); it != fext.end(); ++it)
84	1/2 ✓ Branch 2 taken 28 times. ✗ Branch 3 not taken.	56	(*it).setRandom();
85
86			// Check againt non-derivative algo
87	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd static_vec_partial_dq(model.nv, model.nv);
88	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	static_vec_partial_dq.setZero();
89	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeStaticTorqueDerivatives(model, data, q, fext, static_vec_partial_dq);
90
91	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau0 = computeStaticTorque(model, data_fd, q, fext);
92	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(tau0));
93
94	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd static_vec_partial_dq_fd(model.nv, model.nv);
95
96	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v_eps(Eigen::VectorXd::Zero(model.nv));
97	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q_plus(model.nq);
98	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd tau_plus(model.nv);
99		2	const double alpha = 1e-8;
100	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
101			{
102	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] += alpha;
103	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	q_plus = integrate(model, q, v_eps);
104	2/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken.	64	tau_plus = computeStaticTorque(model, data_fd, q_plus, fext);
105
106	4/8 ✓ 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. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	static_vec_partial_dq_fd.col(k) = (tau_plus - tau0) / alpha;
107	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] = 0.;
108			}
109
110	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(static_vec_partial_dq.isApprox(static_vec_partial_dq_fd, sqrt(alpha)));
111		2	}
112
113	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)
114			{
115			using namespace Eigen;
116			using namespace pinocchio;
117
118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
120	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	model.armature = VectorXd::Random(model.nv) + VectorXd::Ones(model.nv);
121
122	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	Data data(model), data_fd(model), data_ref(model);
123
124	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.);
125	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.);
126	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
127	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Random(model.nv));
128	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(VectorXd::Random(model.nv));
129
130			/// Check againt computeGeneralizedGravityDerivatives
131	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_dq(model.nv, model.nv);
132	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dq.setZero();
133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_dv(model.nv, model.nv);
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dv.setZero();
135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_da(model.nv, model.nv);
136	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_da.setZero();
137	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeRNEADerivatives(
138	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model, data, q, VectorXd::Zero(model.nv), VectorXd::Zero(model.nv), rnea_partial_dq,
139			rnea_partial_dv, rnea_partial_da);
140	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	rnea(model, data_ref, q, VectorXd::Zero(model.nv), VectorXd::Zero(model.nv));
141	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex k = 1; k < (Model::JointIndex)model.njoints; ++k)
142			{
143	8/16 ✓ 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 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 27 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 27 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 27 times.	54	BOOST_CHECK(data.of[k].isApprox(data.oMi[k].act(data_ref.f[k])));
144			}
145
146	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd g_partial_dq(model.nv, model.nv);
147	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	g_partial_dq.setZero();
148	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeGeneralizedGravityDerivatives(model, data_ref, q, g_partial_dq);
149
150	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.dFdq.isApprox(data_ref.dFdq));
151	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(rnea_partial_dq.isApprox(g_partial_dq));
152	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(data_ref.g));
153
154	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	VectorXd tau0 = rnea(model, data_fd, q, VectorXd::Zero(model.nv), VectorXd::Zero(model.nv));
155	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_dq_fd(model.nv, model.nv);
156	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dq_fd.setZero();
157
158	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v_eps(VectorXd::Zero(model.nv));
159	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q_plus(model.nq);
160	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd tau_plus(model.nv);
161		2	const double alpha = 1e-8;
162	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
163			{
164	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] += alpha;
165	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	q_plus = integrate(model, q, v_eps);
166	4/8 ✓ 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. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	tau_plus = rnea(model, data_fd, q_plus, VectorXd::Zero(model.nv), VectorXd::Zero(model.nv));
167
168	4/8 ✓ 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. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	rnea_partial_dq_fd.col(k) = (tau_plus - tau0) / alpha;
169	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] -= alpha;
170			}
171	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(rnea_partial_dq.isApprox(rnea_partial_dq_fd, sqrt(alpha)));
172
173			// Check with q and a non zero
174	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	tau0 = rnea(model, data_fd, q, 0 * v, a);
175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dq_fd.setZero();
176
177	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
178			{
179	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] += alpha;
180	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	q_plus = integrate(model, q, v_eps);
181	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	tau_plus = rnea(model, data_fd, q_plus, VectorXd::Zero(model.nv), a);
182
183	4/8 ✓ 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. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	rnea_partial_dq_fd.col(k) = (tau_plus - tau0) / alpha;
184	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] -= alpha;
185			}
186
187	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dq.setZero();
188	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeRNEADerivatives(
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model, data, q, VectorXd::Zero(model.nv), a, rnea_partial_dq, rnea_partial_dv, rnea_partial_da);
190	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	forwardKinematics(model, data_ref, q, VectorXd::Zero(model.nv), a);
191
192	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex k = 1; k < (Model::JointIndex)model.njoints; ++k)
193			{
194	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(data.a[k].isApprox(data_ref.a[k]));
195	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(data.v[k].isApprox(data_ref.v[k]));
196	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(data.oMi[k].isApprox(data_ref.oMi[k]));
197	8/16 ✓ 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 22 taken 27 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 27 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 27 times.	54	BOOST_CHECK(data.oh[k].isApprox(Force::Zero()));
198			}
199
200	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(tau0));
201	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(rnea_partial_dq.isApprox(rnea_partial_dq_fd, sqrt(alpha)));
202
203			// Check with q and v non zero
204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Motion gravity(model.gravity);
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.gravity.setZero();
206	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	tau0 = rnea(model, data_fd, q, v, VectorXd::Zero(model.nv));
207	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dq_fd.setZero();
208
209	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
210			{
211	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] += alpha;
212	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	q_plus = integrate(model, q, v_eps);
213	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	tau_plus = rnea(model, data_fd, q_plus, v, VectorXd::Zero(model.nv));
214
215	4/8 ✓ 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. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	rnea_partial_dq_fd.col(k) = (tau_plus - tau0) / alpha;
216	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] -= alpha;
217			}
218
219	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd v_plus(v);
220	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_dv_fd(model.nv, model.nv);
221	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dv_fd.setZero();
222
223	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
224			{
225	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_plus[k] += alpha;
226	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	tau_plus = rnea(model, data_fd, q, v_plus, VectorXd::Zero(model.nv));
227
228	4/8 ✓ 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. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	rnea_partial_dv_fd.col(k) = (tau_plus - tau0) / alpha;
229	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_plus[k] -= alpha;
230			}
231
232	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dq.setZero();
233	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dv.setZero();
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeRNEADerivatives(
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model, data, q, v, VectorXd::Zero(model.nv), rnea_partial_dq, rnea_partial_dv, rnea_partial_da);
236	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	forwardKinematics(model, data_ref, q, v, VectorXd::Zero(model.nv));
237
238	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex k = 1; k < (Model::JointIndex)model.njoints; ++k)
239			{
240	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(data.a[k].isApprox(data_ref.a[k]));
241	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(data.v[k].isApprox(data_ref.v[k]));
242	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(data.oMi[k].isApprox(data_ref.oMi[k]));
243			}
244
245	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(tau0));
246	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(rnea_partial_dq.isApprox(rnea_partial_dq_fd, sqrt(alpha)));
247	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(rnea_partial_dv.isApprox(rnea_partial_dv_fd, sqrt(alpha)));
248
249			// std::cout << "rnea_partial_dv:\n" << rnea_partial_dv.block<10,10>(0,0) << std::endl;
250			// std::cout << "rnea_partial_dv ref:\n" << rnea_partial_dv_fd.block<10,10>(0,0) << std::endl;
251			// std::cout << "rnea_partial_dv:\n" << rnea_partial_dv.topRows<10>() << std::endl;
252			// std::cout << "rnea_partial_dv ref:\n" << rnea_partial_dv_fd.topRows<10>() << std::endl;
253			// Check with q, v and a non zero
254	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.gravity = gravity;
255	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v_plus = v;
256	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tau0 = rnea(model, data_fd, q, v, a);
257	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dq_fd.setZero();
258
259	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
260			{
261	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] += alpha;
262	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	q_plus = integrate(model, q, v_eps);
263	2/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken.	64	tau_plus = rnea(model, data_fd, q_plus, v, a);
264
265	4/8 ✓ 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. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	rnea_partial_dq_fd.col(k) = (tau_plus - tau0) / alpha;
266	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] -= alpha;
267			}
268
269	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dv_fd.setZero();
270	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
271			{
272	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_plus[k] += alpha;
273	2/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken.	64	tau_plus = rnea(model, data_fd, q, v_plus, a);
274
275	4/8 ✓ 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. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	rnea_partial_dv_fd.col(k) = (tau_plus - tau0) / alpha;
276	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_plus[k] -= alpha;
277			}
278
279	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dq.setZero();
280	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dv.setZero();
281	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeRNEADerivatives(model, data, q, v, a, rnea_partial_dq, rnea_partial_dv, rnea_partial_da);
282	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q, v, a);
283
284	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex k = 1; k < (Model::JointIndex)model.njoints; ++k)
285			{
286	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(data.a[k].isApprox(data_ref.a[k]));
287	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(data.v[k].isApprox(data_ref.v[k]));
288	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(data.oMi[k].isApprox(data_ref.oMi[k]));
289			}
290
291	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data_ref, q, v);
292	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.dJ.isApprox(data_ref.dJ));
293	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data_ref, q, Convention::WORLD);
294	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref.M.triangularView<Eigen::StrictlyLower>() =
295	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	data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
296
297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_da.triangularView<Eigen::StrictlyLower>() =
298	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	rnea_partial_da.transpose().triangularView<Eigen::StrictlyLower>();
299	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(rnea_partial_da.isApprox(data_ref.M));
300
301	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(tau0));
302	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(rnea_partial_dq.isApprox(rnea_partial_dq_fd, sqrt(alpha)));
303	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(rnea_partial_dv.isApprox(rnea_partial_dv_fd, sqrt(alpha)));
304
305	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data2(model);
306	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeRNEADerivatives(model, data2, q, v, a);
307	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data2.M.triangularView<Eigen::StrictlyLower>() =
308	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	data2.M.transpose().triangularView<Eigen::StrictlyLower>();
309
310	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(rnea_partial_dq.isApprox(data2.dtau_dq));
311	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(rnea_partial_dv.isApprox(data2.dtau_dv));
312	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(rnea_partial_da.isApprox(data2.M));
313		2	}
314
315	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_fext)
316			{
317			using namespace Eigen;
318			using namespace pinocchio;
319
320	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
321	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
322			typedef Model::Force Force;
323
324	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	Data data(model), data_fd(model), data_ref(model);
325
326	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.);
327	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.);
328	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
329	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Random(model.nv));
330	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(VectorXd::Random(model.nv));
331
332			typedef PINOCCHIO_ALIGNED_STD_VECTOR(Force) ForceVector;
333	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ForceVector fext((size_t)model.njoints);
334	2/2 ✓ Branch 4 taken 28 times. ✓ Branch 5 taken 1 times.	58	for (ForceVector::iterator it = fext.begin(); it != fext.end(); ++it)
335	1/2 ✓ Branch 2 taken 28 times. ✗ Branch 3 not taken.	56	(*it).setRandom();
336
337			/// Check againt computeGeneralizedGravityDerivatives
338	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_dq(model.nv, model.nv);
339	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dq.setZero();
340	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_dv(model.nv, model.nv);
341	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dv.setZero();
342	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_da(model.nv, model.nv);
343	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_da.setZero();
344
345	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeRNEADerivatives(
346			model, data, q, v, a, fext, rnea_partial_dq, rnea_partial_dv, rnea_partial_da);
347	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data_ref, q, v, a, fext);
348
349	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(data_ref.tau));
350
351	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeRNEADerivatives(model, data_ref, q, v, a);
352	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(rnea_partial_dv.isApprox(data_ref.dtau_dv));
353	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(rnea_partial_da.isApprox(data_ref.M));
354
355	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_dq_fd(model.nv, model.nv);
356	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dq_fd.setZero();
357	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_dv_fd(model.nv, model.nv);
358	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dv_fd.setZero();
359	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_da_fd(model.nv, model.nv);
360	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_da_fd.setZero();
361
362	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v_eps(VectorXd::Zero(model.nv));
363	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q_plus(model.nq);
364	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd tau_plus(model.nv);
365		2	const double eps = 1e-8;
366
367	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const VectorXd tau_ref = rnea(model, data_ref, q, v, a, fext);
368	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
369			{
370	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] = eps;
371	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	q_plus = integrate(model, q, v_eps);
372	2/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken.	64	tau_plus = rnea(model, data_fd, q_plus, v, a, fext);
373
374	4/8 ✓ 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. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	rnea_partial_dq_fd.col(k) = (tau_plus - tau_ref) / eps;
375
376	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] = 0.;
377			}
378	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(rnea_partial_dq.isApprox(rnea_partial_dq_fd, sqrt(eps)));
379
380	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd v_plus(v);
381	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
382			{
383	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_plus[k] += eps;
384
385	2/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken.	64	tau_plus = rnea(model, data_fd, q, v_plus, a, fext);
386
387	4/8 ✓ 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. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	rnea_partial_dv_fd.col(k) = (tau_plus - tau_ref) / eps;
388
389	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_plus[k] -= eps;
390			}
391	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(rnea_partial_dv.isApprox(rnea_partial_dv_fd, sqrt(eps)));
392
393	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd a_plus(a);
394	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
395			{
396	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	a_plus[k] += eps;
397
398	2/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken.	64	tau_plus = rnea(model, data_fd, q, v, a_plus, fext);
399
400	4/8 ✓ 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. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	rnea_partial_da_fd.col(k) = (tau_plus - tau_ref) / eps;
401
402	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	a_plus[k] -= eps;
403			}
404
405	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_da.triangularView<Eigen::Lower>() =
406	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	rnea_partial_da.transpose().triangularView<Eigen::Lower>();
407	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(rnea_partial_da.isApprox(rnea_partial_da_fd, sqrt(eps)));
408
409			// test the shortcut
410	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_shortcut(model);
411	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeRNEADerivatives(model, data_shortcut, q, v, a, fext);
412	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_shortcut.dtau_dq.isApprox(rnea_partial_dq));
413	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_shortcut.dtau_dv.isApprox(rnea_partial_dv));
414	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_shortcut.M.triangularView<Eigen::Lower>() =
415	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	data_shortcut.M.transpose().triangularView<Eigen::Lower>();
416	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_shortcut.M.isApprox(rnea_partial_da));
417		2	}
418
419	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_vs_kinematics_derivatives)
420			{
421			using namespace Eigen;
422			using namespace pinocchio;
423
424	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
425	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
426
427	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_ref(model);
428
429	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.);
430	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.);
431	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
432	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Random(model.nv));
433	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(VectorXd::Random(model.nv));
434
435			/// Check againt computeGeneralizedGravityDerivatives
436	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_dq(model.nv, model.nv);
437	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dq.setZero();
438	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_dv(model.nv, model.nv);
439	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_dv.setZero();
440	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd rnea_partial_da(model.nv, model.nv);
441	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea_partial_da.setZero();
442
443	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeRNEADerivatives(model, data, q, v, a, rnea_partial_dq, rnea_partial_dv, rnea_partial_da);
444	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeForwardKinematicsDerivatives(model, data_ref, q, v, a);
445
446	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.J.isApprox(data_ref.J));
447	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.dJ.isApprox(data_ref.dJ));
448
449	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (size_t k = 1; k < (size_t)model.njoints; ++k)
450			{
451	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(data.oMi[k].isApprox(data_ref.oMi[k]));
452	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(data.ov[k].isApprox(data_ref.ov[k]));
453	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(data.oa[k].isApprox(data_ref.oa[k]));
454			}
455		2	}
456
457	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_multiple_calls)
458			{
459			using namespace Eigen;
460			using namespace pinocchio;
461
462	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
463	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
464
465	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data1(model), data2(model);
466
467	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.);
468	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.);
469	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
470	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Random(model.nv));
471	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(VectorXd::Random(model.nv));
472
473	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeRNEADerivatives(model, data1, q, v, a);
474	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data2 = data1;
475
476	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (int k = 0; k < 20; ++k)
477			{
478	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	40	computeRNEADerivatives(model, data1, q, v, a);
479			}
480
481	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(data1.J.isApprox(data2.J));
482	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(data1.dJ.isApprox(data2.dJ));
483	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(data1.dVdq.isApprox(data2.dVdq));
484	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(data1.dAdq.isApprox(data2.dAdq));
485	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(data1.dAdv.isApprox(data2.dAdv));
486
487	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(data1.dFdq.isApprox(data2.dFdq));
488	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(data1.dFdv.isApprox(data2.dFdv));
489	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(data1.dFda.isApprox(data2.dFda));
490
491	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(data1.dtau_dq.isApprox(data2.dtau_dq));
492	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(data1.dtau_dv.isApprox(data2.dtau_dv));
493	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(data1.M.isApprox(data2.M));
494		2	}
495
496	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_get_coriolis)
497			{
498			using namespace Eigen;
499			using namespace pinocchio;
500
501	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
502	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
503
504	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.);
505	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.);
506
507	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_ref(model);
508	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
509
510	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
511	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = VectorXd::Random(model.nv);
512	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau = VectorXd::Random(model.nv);
513
514	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCoriolisMatrix(model, data_ref, q, v);
515
516	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeRNEADerivatives(model, data, q, v, tau);
517	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getCoriolisMatrix(model, data);
518
519	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.J.isApprox(data_ref.J));
520	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.dJ.isApprox(data_ref.dJ));
521	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.Ag.isApprox(data_ref.Ag));
522	2/2 ✓ Branch 1 taken 27 times. ✓ Branch 2 taken 1 times.	56	for (JointIndex k = 1; k < model.joints.size(); ++k)
523			{
524	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(data.B[k].isApprox(data_ref.B[k]));
525	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(data.oYcrb[k].isApprox(data_ref.oYcrb[k]));
526			}
527
528	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.C.isApprox(data_ref.C));
529		2	}
530
531			BOOST_AUTO_TEST_SUITE_END()
532