GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	182	182	100.0%
Branches:	762	1518	50.2%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019-2020 INRIA
3			//
4
5			#include <pinocchio/math/rpy.hpp>
6			#include <pinocchio/math/quaternion.hpp>
7			#include <pinocchio/spatial/skew.hpp>
8
9			#include <boost/variant.hpp> // to avoid C99 warnings
10
11			#include <boost/test/unit_test.hpp>
12			#include <boost/utility/binary.hpp>
13
14			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
15
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17			{
18		2	double r = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / (2 * M_PI))) - M_PI;
19		2	double p = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / M_PI)) - (M_PI / 2);
20		2	double y = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / (2 * M_PI))) - M_PI;
21
22	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d R = pinocchio::rpy::rpyToMatrix(r, p, y);
23
24			Eigen::Matrix3d Raa =
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26	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	6	* Eigen::AngleAxisd(r, Eigen::Vector3d::UnitX()))
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28
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30
31	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector3d v;
32	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	v << r, p, y;
33
34	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d Rv = pinocchio::rpy::rpyToMatrix(v);
35
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38		2	}
39
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41			{
42			#ifdef NDEBUG
43			const int n = 1e5;
44			#else
45		2	const int n = 1e2;
46			#endif
47	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	202	for (int k = 0; k < n; ++k)
48			{
49	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	Eigen::Quaterniond quat;
50	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	pinocchio::quaternion::uniformRandom(quat);
51	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	const Eigen::Matrix3d R = quat.toRotationMatrix();
52
53	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	const Eigen::Vector3d v = pinocchio::rpy::matrixToRpy(R);
54	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	Eigen::Matrix3d Rprime = pinocchio::rpy::rpyToMatrix(v);
55
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60			}
61
62			#ifdef NDEBUG
63			const int n2 = 1e3;
64			#else
65		2	const int n2 = 1e2;
66			#endif
67
68			// Test singular case theta = pi/2
69	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	202	for (int k = 0; k < n2; ++k)
70			{
71		200	double r = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / (2 * M_PI))) - M_PI;
72		200	double y = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / (2 * M_PI))) - M_PI;
73	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	Eigen::Matrix3d Rp;
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77
78	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	const Eigen::Vector3d v = pinocchio::rpy::matrixToRpy(R);
79	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	Eigen::Matrix3d Rprime = pinocchio::rpy::rpyToMatrix(v);
80
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85			}
86
87			// Test singular case theta = -pi/2
88	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	202	for (int k = 0; k < n2; ++k)
89			{
90		200	double r = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / (2 * M_PI))) - M_PI;
91		200	double y = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / (2 * M_PI))) - M_PI;
92	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	Eigen::Matrix3d Rp;
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96
97	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	const Eigen::Vector3d v = pinocchio::rpy::matrixToRpy(R);
98	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	Eigen::Matrix3d Rprime = pinocchio::rpy::rpyToMatrix(v);
99
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104			}
105		2	}
106
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108			{
109			// Check identity at zero
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111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d j0 = pinocchio::rpy::computeRpyJacobian(rpy);
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113	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d jL = pinocchio::rpy::computeRpyJacobian(rpy, pinocchio::LOCAL);
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115	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d jW = pinocchio::rpy::computeRpyJacobian(rpy, pinocchio::WORLD);
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117	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d jA = pinocchio::rpy::computeRpyJacobian(rpy, pinocchio::LOCAL_WORLD_ALIGNED);
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119
120			// Check correct identities between different versions
121		2	double r = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / (2 * M_PI))) - M_PI;
122		2	double p = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / M_PI)) - (M_PI / 2);
123		2	double y = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / (2 * M_PI))) - M_PI;
124	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rpy = Eigen::Vector3d(r, p, y);
125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d R = pinocchio::rpy::rpyToMatrix(rpy);
126	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	j0 = pinocchio::rpy::computeRpyJacobian(rpy);
127	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jL = pinocchio::rpy::computeRpyJacobian(rpy, pinocchio::LOCAL);
128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jW = pinocchio::rpy::computeRpyJacobian(rpy, pinocchio::WORLD);
129	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jA = pinocchio::rpy::computeRpyJacobian(rpy, pinocchio::LOCAL_WORLD_ALIGNED);
130	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(j0 == jL);
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132	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(jW.isApprox(R * jL));
133
134			// Check against analytical formulas
135	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Vector3d jL0Expected = Eigen::Vector3d::UnitX();
136			Eigen::Vector3d jL1Expected =
137	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 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	2	Eigen::AngleAxisd(r, Eigen::Vector3d::UnitX()).toRotationMatrix().transpose().col(1);
138	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Vector3d jL2Expected = (Eigen::AngleAxisd(p, Eigen::Vector3d::UnitY())
139	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	* Eigen::AngleAxisd(r, Eigen::Vector3d::UnitX()))
140	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	.toRotationMatrix()
141	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	.transpose()
142	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	.col(2);
143	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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(jL.col(0).isApprox(jL0Expected));
144	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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(jL.col(1).isApprox(jL1Expected));
145	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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(jL.col(2).isApprox(jL2Expected));
146
147	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Vector3d jW0Expected = (Eigen::AngleAxisd(y, Eigen::Vector3d::UnitZ())
148	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	* Eigen::AngleAxisd(p, Eigen::Vector3d::UnitY()))
149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	.toRotationMatrix()
150	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	.col(0);
151			Eigen::Vector3d jW1Expected =
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153	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Vector3d jW2Expected = Eigen::Vector3d::UnitZ();
154	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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(jW.col(0).isApprox(jW0Expected));
155	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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(jW.col(1).isApprox(jW1Expected));
156	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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(jW.col(2).isApprox(jW2Expected));
157
158			// Check against finite differences
159	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Vector3d rpydot = Eigen::Vector3d::Random();
160		2	double const eps = 1e-7;
161		2	double const tol = 1e-5;
162
163	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	Eigen::Matrix3d dRdr = (pinocchio::rpy::rpyToMatrix(r + eps, p, y) - R) / eps;
164	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	Eigen::Matrix3d dRdp = (pinocchio::rpy::rpyToMatrix(r, p + eps, y) - R) / eps;
165	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	Eigen::Matrix3d dRdy = (pinocchio::rpy::rpyToMatrix(r, p, y + eps) - R) / eps;
166	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken.	2	Eigen::Matrix3d Rdot = dRdr * rpydot[0] + dRdp * rpydot[1] + dRdy * rpydot[2];
167
168	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Vector3d omegaL = jL * rpydot;
169	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(Rdot.isApprox(R * pinocchio::skew(omegaL), tol));
170
171	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Vector3d omegaW = jW * rpydot;
172	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(Rdot.isApprox(pinocchio::skew(omegaW) * R, tol));
173		2	}
174
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176			{
177			// Check correct identities between different versions
178		2	double r = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / (2 * M_PI))) - M_PI;
179		2	double p = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / M_PI)) - (M_PI / 2);
180		2	p *= 0.999; // ensure we are not too close to a singularity
181		2	double y = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / (2 * M_PI))) - M_PI;
182	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector3d rpy(r, p, y);
183
184	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d j0 = pinocchio::rpy::computeRpyJacobian(rpy);
185	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d j0inv = pinocchio::rpy::computeRpyJacobianInverse(rpy);
186	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(j0inv.isApprox(j0.inverse()));
187
188	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d jL = pinocchio::rpy::computeRpyJacobian(rpy, pinocchio::LOCAL);
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d jLinv = pinocchio::rpy::computeRpyJacobianInverse(rpy, pinocchio::LOCAL);
190	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(jLinv.isApprox(jL.inverse()));
191
192	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d jW = pinocchio::rpy::computeRpyJacobian(rpy, pinocchio::WORLD);
193	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d jWinv = pinocchio::rpy::computeRpyJacobianInverse(rpy, pinocchio::WORLD);
194	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(jWinv.isApprox(jW.inverse()));
195
196	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d jA = pinocchio::rpy::computeRpyJacobian(rpy, pinocchio::LOCAL_WORLD_ALIGNED);
197			Eigen::Matrix3d jAinv =
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::rpy::computeRpyJacobianInverse(rpy, pinocchio::LOCAL_WORLD_ALIGNED);
199	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(jAinv.isApprox(jA.inverse()));
200		2	}
201
202	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_computeRpyJacobianTimeDerivative)
203			{
204			// Check zero at zero velocity
205		2	double r = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / (2 * M_PI))) - M_PI;
206		2	double p = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / M_PI)) - (M_PI / 2);
207		2	double y = static_cast<double>(rand()) / (static_cast<double>(RAND_MAX / (2 * M_PI))) - M_PI;
208	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector3d rpy(r, p, y);
209	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Vector3d rpydot(Eigen::Vector3d::Zero());
210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d dj0 = pinocchio::rpy::computeRpyJacobianTimeDerivative(rpy, rpydot);
211	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(dj0.isZero());
212			Eigen::Matrix3d djL =
213	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::rpy::computeRpyJacobianTimeDerivative(rpy, rpydot, pinocchio::LOCAL);
214	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(djL.isZero());
215			Eigen::Matrix3d djW =
216	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::rpy::computeRpyJacobianTimeDerivative(rpy, rpydot, pinocchio::WORLD);
217	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(djW.isZero());
218			Eigen::Matrix3d djA =
219	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::rpy::computeRpyJacobianTimeDerivative(rpy, rpydot, pinocchio::LOCAL_WORLD_ALIGNED);
220	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(djA.isZero());
221
222			// Check correct identities between different versions
223	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	rpydot = Eigen::Vector3d::Random();
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dj0 = pinocchio::rpy::computeRpyJacobianTimeDerivative(rpy, rpydot);
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	djL = pinocchio::rpy::computeRpyJacobianTimeDerivative(rpy, rpydot, pinocchio::LOCAL);
226	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	djW = pinocchio::rpy::computeRpyJacobianTimeDerivative(rpy, rpydot, pinocchio::WORLD);
227			djA =
228	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::rpy::computeRpyJacobianTimeDerivative(rpy, rpydot, pinocchio::LOCAL_WORLD_ALIGNED);
229	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(dj0 == djL);
230	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(djW == djA);
231
232	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d R = pinocchio::rpy::rpyToMatrix(rpy);
233	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d jL = pinocchio::rpy::computeRpyJacobian(rpy, pinocchio::LOCAL);
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix3d jW = pinocchio::rpy::computeRpyJacobian(rpy, pinocchio::WORLD);
235	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Vector3d omegaL = jL * rpydot;
236	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Vector3d omegaW = jW * rpydot;
237	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(omegaW.isApprox(R * omegaL));
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239	12/24 ✓ 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 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 not taken. ✓ Branch 42 taken 1 times.	2	BOOST_CHECK(djW.isApprox(R * pinocchio::skew(omegaL) * jL + R * djL));
240
241			// Check against finite differences
242		2	double const eps = 1e-7;
243		2	double const tol = 1e-5;
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector3d rpyEps = rpy;
245
246	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rpyEps[0] += eps;
247	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	Eigen::Matrix3d djLdr = (pinocchio::rpy::computeRpyJacobian(rpyEps, pinocchio::LOCAL) - jL) / eps;
248	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	rpyEps[0] = rpy[0];
249	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rpyEps[1] += eps;
250	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	Eigen::Matrix3d djLdp = (pinocchio::rpy::computeRpyJacobian(rpyEps, pinocchio::LOCAL) - jL) / eps;
251	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	rpyEps[1] = rpy[1];
252	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rpyEps[2] += eps;
253	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	Eigen::Matrix3d djLdy = (pinocchio::rpy::computeRpyJacobian(rpyEps, pinocchio::LOCAL) - jL) / eps;
254	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	rpyEps[2] = rpy[2];
255	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken.	2	Eigen::Matrix3d djLf = djLdr * rpydot[0] + djLdp * rpydot[1] + djLdy * rpydot[2];
256	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(djL.isApprox(djLf, tol));
257
258	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rpyEps[0] += eps;
259	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	Eigen::Matrix3d djWdr = (pinocchio::rpy::computeRpyJacobian(rpyEps, pinocchio::WORLD) - jW) / eps;
260	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	rpyEps[0] = rpy[0];
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rpyEps[1] += eps;
262	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	Eigen::Matrix3d djWdp = (pinocchio::rpy::computeRpyJacobian(rpyEps, pinocchio::WORLD) - jW) / eps;
263	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	rpyEps[1] = rpy[1];
264	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rpyEps[2] += eps;
265	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	Eigen::Matrix3d djWdy = (pinocchio::rpy::computeRpyJacobian(rpyEps, pinocchio::WORLD) - jW) / eps;
266	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	rpyEps[2] = rpy[2];
267	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken.	2	Eigen::Matrix3d djWf = djWdr * rpydot[0] + djWdp * rpydot[1] + djWdy * rpydot[2];
268	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(djW.isApprox(djWf, tol));
269		2	}
270
271			BOOST_AUTO_TEST_SUITE_END()
272