GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	156	156	100.0%
Branches:	616	1218	50.6%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2020 CNRS INRIA
3			//
4
5			/* --- Unitary test symmetric.cpp This code tests and compares two ways of
6			* expressing symmetric matrices. In addition to the unitary validation (test
7			* of the basic operations), the code is validating the computation
8			* performances of each methods.
9			*
10			* The three methods are:
11			* - Eigen SelfAdjoint (a mask atop of a classical dense matrix) ==> the least efficient.
12			* - Pinocchio rewritting of Metapod code with LTI factor as well and minor improvement.
13			*
14			* IMPORTANT: the following timings seems outdated.
15			* Expected time scores on a I7 2.1GHz:
16			* - Eigen: 2.5us
17			* - Pinocchio: 6us
18			*/
19
20			#include "pinocchio/spatial/fwd.hpp"
21			#include "pinocchio/spatial/skew.hpp"
22			#include "pinocchio/utils/timer.hpp"
23
24			#include <boost/random.hpp>
25			#include <Eigen/Geometry>
26
27			#include "pinocchio/spatial/symmetric3.hpp"
28
29			#include <boost/test/unit_test.hpp>
30			#include <boost/utility/binary.hpp>
31
32		100000	void timeSym3(
33			const pinocchio::Symmetric3 & S,
34			const pinocchio::Symmetric3::Matrix3 & R,
35			pinocchio::Symmetric3 & res)
36			{
37	1/2 ✓ Branch 2 taken 100000 times. ✗ Branch 3 not taken.	100000	res = S.rotate(R);
38		100000	}
39
40			#ifdef WITH_METAPOD
41
42			#include <metapod/tools/spatial/lti.hh>
43			#include <metapod/tools/spatial/rm-general.hh>
44
45			EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(metapod::Spatial::ltI<double>)
46			EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(metapod::Spatial::RotationMatrixTpl<double>)
47
48			void timeLTI(
49			const metapod::Spatial::ltI<double> & S,
50			const metapod::Spatial::RotationMatrixTpl<double> & R,
51			metapod::Spatial::ltI<double> & res)
52			{
53			res = R.rotTSymmetricMatrix(S);
54			}
55
56			#endif
57
58		100001	void timeSelfAdj(const Eigen::Matrix3d & A, const Eigen::Matrix3d & Sdense, Eigen::Matrix3d & ASA)
59			{
60			typedef Eigen::SelfAdjointView<const Eigen::Matrix3d, Eigen::Upper> Sym3;
61	1/2 ✓ Branch 1 taken 100001 times. ✗ Branch 2 not taken.	100001	Sym3 S(Sdense);
62	5/10 ✓ Branch 1 taken 100001 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100001 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 100001 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 100001 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 100001 times. ✗ Branch 14 not taken.	100001	ASA.triangularView<Eigen::Upper>() = A * S * A.transpose();
63		100001	}
64
65			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
66
67			/* --- PINOCCHIO ------------------------------------------------------------ */
68			/* --- PINOCCHIO ------------------------------------------------------------ */
69			/* --- PINOCCHIO ------------------------------------------------------------ */
70	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_pinocchio_Sym3)
71			{
72			using namespace pinocchio;
73			typedef Symmetric3::Matrix3 Matrix3;
74			typedef Symmetric3::Vector3 Vector3;
75
76			{
77			// op(Matrix3)
78			{
79	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3 M = Matrix3::Random();
80	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	M = M * M.transpose();
81	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S(M);
82	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 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 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(S.matrix().isApprox(M, 1e-12));
83			}
84
85			// S += S
86			{
87	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Symmetric3 S = Symmetric3::Random(), S2 = Symmetric3::Random();
88	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 Scopy = S;
89	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	S += S2;
90	11/22 ✓ 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 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✗ Branch 37 not taken. ✓ Branch 38 taken 1 times.	2	BOOST_CHECK(S.matrix().isApprox(S2.matrix() + Scopy.matrix(), 1e-12));
91			}
92
93			// S + M
94			{
95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S = Symmetric3::Random();
96	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3 M = Matrix3::Random();
97	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	M = M * M.transpose();
98
99	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S2 = S + M;
100	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(S2.matrix().isApprox(S.matrix() + M, 1e-12));
101
102	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	S2 = S - M;
103	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(S2.matrix().isApprox(S.matrix() - M, 1e-12));
104			}
105
106			// S*v
107			{
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S = Symmetric3::Random();
109	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3 v = Vector3::Random();
110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector3 Sv = S * v;
111	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(Sv.isApprox(S.matrix() * v, 1e-12));
112			}
113
114			// Random
115	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	202	for (int i = 0; i < 100; ++i)
116			{
117	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	Matrix3 M = Matrix3::Random();
118	3/6 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 100 times. ✗ Branch 8 not taken.	200	M = M * M.transpose();
119	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	Symmetric3 S = Symmetric3::RandomPositive();
120	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	Vector3 v = Vector3::Random();
121	9/18 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 100 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 100 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 100 times. ✗ Branch 18 not taken. ✓ Branch 22 taken 100 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 100 times. ✗ Branch 26 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 100 times.	200	BOOST_CHECK_GT((v.transpose() * (S * v))[0], 0);
122			}
123
124			// Identity
125			{
126	9/18 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 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 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(Symmetric3::Identity().matrix().isApprox(Matrix3::Identity(), 1e-12));
127			}
128
129			// Set diagonal
130			{
131	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S0 = Symmetric3::Zero();
132			const Symmetric3::Vector3 diag_elt =
133	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	(Symmetric3::Vector3::Constant(1.) + Symmetric3::Vector3::Random());
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	S0.setDiagonal(diag_elt);
135
136	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 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 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(S0.matrix().diagonal().isApprox(diag_elt));
137			}
138
139			// Skew2
140			{
141	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3 v = Vector3::Random();
142	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Symmetric3 vxvx = Symmetric3::SkewSquare(v);
143
144	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3 p = Vector3::UnitX();
145	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK((vxvx * p).isApprox(v.cross(v.cross(p)), 1e-12));
146
147	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p = Vector3::UnitY();
148	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK((vxvx * p).isApprox(v.cross(v.cross(p)), 1e-12));
149
150	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p = Vector3::UnitZ();
151	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK((vxvx * p).isApprox(v.cross(v.cross(p)), 1e-12));
152
153	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix3 vx = skew(v);
154	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3 vxvx2 = (vx * vx).eval();
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 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 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(vxvx.matrix().isApprox(vxvx2, 1e-12));
156
157	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S = Symmetric3::RandomPositive();
158	11/22 ✓ 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 38 not taken. ✓ Branch 39 taken 1 times.	2	BOOST_CHECK((S - Symmetric3::SkewSquare(v)).matrix().isApprox(S.matrix() - vxvx2, 1e-12));
159
160	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double m = Eigen::internal::random<double>() + 1;
161	13/26 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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 39 taken 1 times. ✗ Branch 40 not taken. ✗ Branch 44 not taken. ✓ Branch 45 taken 1 times.	2	BOOST_CHECK(
162			(S - m * Symmetric3::SkewSquare(v)).matrix().isApprox(S.matrix() - m * vxvx2, 1e-12));
163
164	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S2 = S;
165	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	S -= Symmetric3::SkewSquare(v);
166	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(S.matrix().isApprox(S2.matrix() - vxvx2, 1e-12));
167
168	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	S = S2;
169	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	S -= m * Symmetric3::SkewSquare(v);
170	11/22 ✓ 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 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✗ Branch 37 not taken. ✓ Branch 38 taken 1 times.	2	BOOST_CHECK(S.matrix().isApprox(S2.matrix() - m * vxvx2, 1e-12));
171			}
172
173			// (i,j)
174			{
175	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3 M = Matrix3::Random();
176	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	M = M * M.transpose();
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S(M);
178	2/2 ✓ Branch 0 taken 3 times. ✓ Branch 1 taken 1 times.	8	for (int i = 0; i < 3; ++i)
179	2/2 ✓ Branch 0 taken 9 times. ✓ Branch 1 taken 3 times.	24	for (int j = 0; j < 3; ++j)
180	7/14 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 9 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 9 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 9 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 9 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 9 times. ✗ Branch 21 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 9 times.	18	BOOST_CHECK_SMALL(S(i, j) - M(i, j), Eigen::NumTraits<double>::dummy_precision());
181			}
182			}
183
184			// SRS
185			{
186	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S = Symmetric3::RandomPositive();
187	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	Matrix3 R = (Eigen::Quaterniond(Eigen::Matrix<double, 4, 1>::Random())).normalized().matrix();
188
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 RSRt = S.rotate(R);
190	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 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 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 1 times.	2	BOOST_CHECK(RSRt.matrix().isApprox(R * S.matrix() * R.transpose(), 1e-12));
191
192	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Symmetric3 RtSR = S.rotate(R.transpose());
193	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 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 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 1 times.	2	BOOST_CHECK(RtSR.matrix().isApprox(R.transpose() * S.matrix() * R, 1e-12));
194			}
195
196			// Test operator vtiv
197			{
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S = Symmetric3::RandomPositive();
199	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3 v = Vector3::Random();
200	5/10 ✓ 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.	2	double kinetic_ref = v.transpose() * S.matrix() * v;
201	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double kinetic = S.vtiv(v);
202	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_SMALL(kinetic_ref - kinetic, 1e-12);
203			}
204
205			// Test v x S3
206			{
207	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S = Symmetric3::RandomPositive();
208	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3 v = Vector3::Random();
209	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix3 Vcross = skew(v);
210	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	Matrix3 M_ref(Vcross * S.matrix());
211
212	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix3 M_res;
213	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3::vxs(v, S, M_res);
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(M_res.isApprox(M_ref));
215
216	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(S.vxs(v).isApprox(M_ref));
217			}
218
219			// Test S3 vx
220			{
221	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S = Symmetric3::RandomPositive();
222	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3 v = Vector3::Random();
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix3 Vcross = skew(v);
224	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	Matrix3 M_ref(S.matrix() * Vcross);
225
226	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix3 M_res;
227	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3::svx(v, S, M_res);
228	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(M_res.isApprox(M_ref));
229
230	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(S.svx(v).isApprox(M_ref));
231			}
232
233			// Test isZero
234			{
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S_not_zero = Symmetric3::Identity();
236	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(!S_not_zero.isZero());
237
238	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S_zero = Symmetric3::Zero();
239	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(S_zero.isZero());
240			}
241
242			// Test isApprox
243			{
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S1 = Symmetric3::RandomPositive();
245	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S2 = S1;
246
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 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(S1.isApprox(S2));
248
249	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S3 = S1;
250	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	S3 += S3;
251	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(!S1.isApprox(S3));
252			}
253
254			// Test inverse
255			{
256	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S1 = Symmetric3::RandomPositive();
257	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3::Matrix3 inv = S1.inverse();
258
259	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 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 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(inv.isApprox(S1.matrix().inverse()));
260			}
261
262			// Time test
263			{
264		2	const size_t NBT = 100000;
265	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S = Symmetric3::RandomPositive();
266
267	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<Symmetric3> Sres(NBT);
268	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<Matrix3> Rs(NBT);
269	2/2 ✓ Branch 0 taken 100000 times. ✓ Branch 1 taken 1 times.	200002	for (size_t i = 0; i < NBT; ++i)
270	4/8 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 100000 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 100000 times. ✗ Branch 11 not taken.	200000	Rs[i] = (Eigen::Quaterniond(Eigen::Matrix<double, 4, 1>::Random())).normalized().matrix();
271
272	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "Pinocchio: ";
273	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	PinocchioTicToc timer(PinocchioTicToc::US);
274	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.tic();
275	2/2 ✓ Branch 0 taken 100000 times. ✓ Branch 1 taken 1 times.	200002	SMOOTH(NBT)
276			{
277	1/2 ✓ Branch 3 taken 100000 times. ✗ Branch 4 not taken.	200000	timeSym3(S, Rs[_smooth], Sres[_smooth]);
278			}
279	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.toc(std::cout, NBT);
280		2	}
281		2	}
282
283			/* --- EIGEN SYMMETRIC ------------------------------------------------------ */
284			/* --- EIGEN SYMMETRIC ------------------------------------------------------ */
285			/* --- EIGEN SYMMETRIC ------------------------------------------------------ */
286
287	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_eigen_SelfAdj)
288			{
289			using namespace pinocchio;
290			typedef Eigen::Matrix3d Matrix3;
291			typedef Eigen::SelfAdjointView<Matrix3, Eigen::Upper> Sym3;
292
293	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3 M = Matrix3::Random();
294	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Sym3 S(M);
295			{
296	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix3 Scp = S;
297	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK((Scp - Scp.transpose()).isApprox(Matrix3::Zero(), 1e-16));
298			}
299
300	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3 M2 = Matrix3::Random();
301	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	M.triangularView<Eigen::Upper>() = M2;
302
303	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	Matrix3 A = Matrix3::Random(), ASA1, ASA2;
304	5/10 ✓ 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.	2	ASA1.triangularView<Eigen::Upper>() = A * S * A.transpose();
305	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timeSelfAdj(A, M, ASA2);
306
307			{
308	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3 Masa1 = ASA1.selfadjointView<Eigen::Upper>();
309	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3 Masa2 = ASA2.selfadjointView<Eigen::Upper>();
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 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(Masa1.isApprox(Masa2, 1e-16));
311			}
312
313		2	const size_t NBT = 100000;
314	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<Eigen::Matrix3d> Sres(NBT);
315	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<Eigen::Matrix3d> Rs(NBT);
316	2/2 ✓ Branch 0 taken 100000 times. ✓ Branch 1 taken 1 times.	200002	for (size_t i = 0; i < NBT; ++i)
317	4/8 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 100000 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 100000 times. ✗ Branch 11 not taken.	200000	Rs[i] = (Eigen::Quaterniond(Eigen::Matrix<double, 4, 1>::Random())).normalized().matrix();
318
319	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "Eigen: ";
320	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	PinocchioTicToc timer(PinocchioTicToc::US);
321	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.tic();
322	2/2 ✓ Branch 0 taken 100000 times. ✓ Branch 1 taken 1 times.	200002	SMOOTH(NBT)
323			{
324	1/2 ✓ Branch 3 taken 100000 times. ✗ Branch 4 not taken.	200000	timeSelfAdj(Rs[_smooth], M, Sres[_smooth]);
325			}
326	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.toc(std::cout, NBT);
327		2	}
328
329	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(comparison)
330			{
331			using namespace pinocchio;
332	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 sym1(Symmetric3::Random());
333
334	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 sym2(sym1);
335	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	sym2.data() *= 2;
336
337	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(sym2 != sym1);
338	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(sym1 == sym1);
339		2	}
340
341	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(cast)
342			{
343			using namespace pinocchio;
344	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 sym(Symmetric3::Random());
345
346	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 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 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(sym.cast<double>() == sym);
347	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(sym.cast<long double>().cast<double>() == sym);
348		2	}
349			BOOST_AUTO_TEST_SUITE_END()
350