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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	unittest/joint-mimic.cpp	Lines:	128	128	100.0 %
Date:	2024-04-26 13:14:21	Branches:	481	962	50.0 %


//
// Copyright (c) 2019 INRIA
//

#include "pinocchio/multibody/joint/joint-generic.hpp"
#include "pinocchio/multibody/liegroup/liegroup.hpp"

#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>

using namespace pinocchio;

BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)

typedef Eigen::Matrix<double,6,Eigen::Dynamic> Matrix6x;

template<typename JointModel>
void test_constraint_mimic(const JointModelBase<JointModel> & jmodel)
{
  typedef typename traits<JointModel>::JointDerived Joint;
  typedef typename traits<Joint>::Constraint_t ConstraintType;
  typedef typename traits<Joint>::JointDataDerived JointData;
  typedef ScaledConstraint<ConstraintType> ScaledConstraintType;

  JointData jdata = jmodel.createData();

  const double scaling_factor = 2.;
  ConstraintType constraint_ref(jdata.S), constraint_ref_shared(jdata.S);
  ScaledConstraintType scaled_constraint(constraint_ref_shared,scaling_factor);

  BOOST_CHECK(constraint_ref.nv() == scaled_constraint.nv());

  typedef typename JointModel::TangentVector_t TangentVector_t;
  TangentVector_t v = TangentVector_t::Random();

  Motion m = scaled_constraint * v;
  Motion m_ref = scaling_factor * (Motion)(constraint_ref * v);

  BOOST_CHECK(m.isApprox(m_ref));

  {
    SE3 M = SE3::Random();
    typename ScaledConstraintType::DenseBase S = M.act(scaled_constraint);
    typename ScaledConstraintType::DenseBase S_ref = scaling_factor * M.act(constraint_ref);

    BOOST_CHECK(S.isApprox(S_ref));
  }

  {
    typename ScaledConstraintType::DenseBase S = scaled_constraint.matrix();
    typename ScaledConstraintType::DenseBase S_ref = scaling_factor * constraint_ref.matrix();

    BOOST_CHECK(S.isApprox(S_ref));
  }

  {
    Motion v = Motion::Random();
    typename ScaledConstraintType::DenseBase S = v.cross(scaled_constraint);
    typename ScaledConstraintType::DenseBase S_ref = scaling_factor * v.cross(constraint_ref);

    BOOST_CHECK(S.isApprox(S_ref));
  }

  // Test transpose operations
  {
    const Eigen::DenseIndex dim = 20;
    const Matrix6x Fin = Matrix6x::Random(6,dim);
    Eigen::MatrixXd Fout = scaled_constraint.transpose() * Fin;
    Eigen::MatrixXd Fout_ref = scaling_factor * (constraint_ref.transpose() * Fin);
    BOOST_CHECK(Fout.isApprox(Fout_ref));

    Force force_in(Force::Random());
    Eigen::MatrixXd Stf = (scaled_constraint.transpose() * force_in);
    Eigen::MatrixXd Stf_ref = scaling_factor * (constraint_ref.transpose() * force_in);
    BOOST_CHECK(Stf_ref.isApprox(Stf));
  }

  // CRBA Y*S
  {
    Inertia Y = Inertia::Random();
    Eigen::MatrixXd YS = Y * scaled_constraint;
    Eigen::MatrixXd YS_ref = scaling_factor * (Y * constraint_ref);

    BOOST_CHECK(YS.isApprox(YS_ref));
  }

}

struct TestJointConstraint
{

  template <typename JointModel>
  void operator()(const JointModelBase<JointModel> &) const
  {
    JointModel jmodel;
    jmodel.setIndexes(0,0,0);

    test_constraint_mimic(jmodel);
  }

  void operator()(const JointModelBase<JointModelRevoluteUnaligned> &) const
  {
    JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
    jmodel.setIndexes(0,0,0);

    test_constraint_mimic(jmodel);
  }

  void operator()(const JointModelBase<JointModelPrismaticUnaligned> &) const
  {
    JointModelPrismaticUnaligned jmodel(1.5, 1., 0.);
    jmodel.setIndexes(0,0,0);

    test_constraint_mimic(jmodel);
  }

};

BOOST_AUTO_TEST_CASE(test_constraint)
{
  using namespace pinocchio;
  typedef boost::variant<
  JointModelRX, JointModelRY, JointModelRZ
  , JointModelRevoluteUnaligned
  , JointModelPX, JointModelPY, JointModelPZ
  , JointModelPrismaticUnaligned
  , JointModelRUBX, JointModelRUBY, JointModelRUBZ
  > Variant;

  boost::mpl::for_each<Variant::types>(TestJointConstraint());
}

template<typename JointModel>
void test_joint_mimic(const JointModelBase<JointModel> & jmodel)
{
  typedef typename traits<JointModel>::JointDerived Joint;
  typedef typename traits<Joint>::JointDataDerived JointData;

  JointData jdata = jmodel.createData();

  const double scaling_factor = 1.;
  const double offset = 0.;

  typedef JointMimic<Joint> JointMimicType;
  typedef typename traits<JointMimicType>::JointModelDerived JointModelMimicType;
  typedef typename traits<JointMimicType>::JointDataDerived JointDataMimicType;

  // test constructor
  JointModelMimicType jmodel_mimic(jmodel.derived(),scaling_factor,offset);
  JointDataMimicType jdata_mimic = jmodel_mimic.createData();

  BOOST_CHECK(jmodel_mimic.nq() == 0);
  BOOST_CHECK(jmodel_mimic.nv() == 0);

  BOOST_CHECK(jmodel_mimic.idx_q() == jmodel.idx_q());
  BOOST_CHECK(jmodel_mimic.idx_v() == jmodel.idx_v());

  BOOST_CHECK(jmodel_mimic.idx_q() == 0);
  BOOST_CHECK(jmodel_mimic.idx_v() == 0);

  typedef typename JointModelMimicType::ConfigVector_t ConfigVectorType;
  typedef typename LieGroup<JointModel>::type LieGroupType;
  ConfigVectorType q0 = LieGroupType().randomConfiguration(-ConfigVectorType::Ones(),ConfigVectorType::Ones());

  jmodel.calc(jdata,q0);
  jmodel_mimic.calc(jdata_mimic,q0);

  BOOST_CHECK(((SE3)jdata.M).isApprox((SE3)jdata_mimic.M()));
  BOOST_CHECK(jdata.S.matrix().isApprox(jdata_mimic.S.matrix()));

  typedef typename JointModelMimicType::TangentVector_t TangentVectorType;

  q0 = LieGroupType().randomConfiguration(-ConfigVectorType::Ones(),ConfigVectorType::Ones());
  TangentVectorType v0 = TangentVectorType::Random();
  jmodel.calc(jdata,q0,v0);
  jmodel_mimic.calc(jdata_mimic,q0,v0);

  BOOST_CHECK(((SE3)jdata.M).isApprox((SE3)jdata_mimic.M()));
  BOOST_CHECK(jdata.S.matrix().isApprox(jdata_mimic.S.matrix()));
  BOOST_CHECK(((Motion)jdata.v).isApprox((Motion)jdata_mimic.v()));
}

struct TestJointMimic
{

  template <typename JointModel>
  void operator()(const JointModelBase<JointModel> &) const
  {
    JointModel jmodel;
    jmodel.setIndexes(0,0,0);

    test_joint_mimic(jmodel);
  }

  void operator()(const JointModelBase<JointModelRevoluteUnaligned> &) const
  {
    JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
    jmodel.setIndexes(0,0,0);

    test_joint_mimic(jmodel);
  }

  void operator()(const JointModelBase<JointModelPrismaticUnaligned> &) const
  {
    JointModelPrismaticUnaligned jmodel(1.5, 1., 0.);
    jmodel.setIndexes(0,0,0);

    test_joint_mimic(jmodel);
  }

};

BOOST_AUTO_TEST_CASE(test_joint)
{
  using namespace pinocchio;
  typedef boost::variant<
  JointModelRX, JointModelRY, JointModelRZ
  , JointModelRevoluteUnaligned
  , JointModelPX, JointModelPY, JointModelPZ
  , JointModelPrismaticUnaligned
  , JointModelRUBX, JointModelRUBY, JointModelRUBZ
  > Variant;

  boost::mpl::for_each<Variant::types>(TestJointMimic());
}

BOOST_AUTO_TEST_CASE(test_transform_linear_affine)
{
  typedef JointModelRX::ConfigVector_t ConfigVectorType;
  double scaling = 1., offset = 0.;

  ConfigVectorType q0 = ConfigVectorType::Random();
  ConfigVectorType q1;
  LinearAffineTransform::run(q0,scaling,offset,q1);
  BOOST_CHECK(q0 == q1);

  offset = 2.;
  LinearAffineTransform::run(ConfigVectorType::Zero(),scaling,offset,q1);
  BOOST_CHECK(q1 == ConfigVectorType::Constant(offset));
}

BOOST_AUTO_TEST_CASE(test_transform_linear_revolute)
{
  typedef JointModelRUBX::ConfigVector_t ConfigVectorType;
  double scaling = 1., offset = 0.;

  ConfigVectorType q0 = ConfigVectorType::Random().normalized();
  ConfigVectorType q1;
  UnboundedRevoluteAffineTransform::run(q0,scaling,offset,q1);
  BOOST_CHECK(q0.isApprox(q1));

  offset = 2.;
  UnboundedRevoluteAffineTransform::run(ConfigVectorType::Zero(),scaling,offset,q1);
  BOOST_CHECK(q1 == ConfigVectorType(math::cos(offset),math::sin(offset)));
}

BOOST_AUTO_TEST_CASE(test_joint_generic_cast)
{
  JointModelRX jmodel_ref;
  jmodel_ref.setIndexes(1,2,3);

  JointModelMimic<JointModelRX> jmodel(jmodel_ref,2.,1.);
  jmodel.setIndexes(1,-1,-1);

  BOOST_CHECK(jmodel.id() == jmodel_ref.id());
  BOOST_CHECK(jmodel.idx_q() == jmodel_ref.idx_q());
  BOOST_CHECK(jmodel.idx_v() == jmodel_ref.idx_v());

  JointModel jmodel_generic(jmodel);
  jmodel_generic.setIndexes(1,-2,-2);

  BOOST_CHECK(jmodel_generic.id() == jmodel_ref.id());
}
BOOST_AUTO_TEST_SUITE_END()


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019 INRIA
3			//
4
5			#include "pinocchio/multibody/joint/joint-generic.hpp"
6			#include "pinocchio/multibody/liegroup/liegroup.hpp"
7
8			#include <boost/test/unit_test.hpp>
9			#include <boost/utility/binary.hpp>
10
11			using namespace pinocchio;
12
13			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
14
15			typedef Eigen::Matrix<double,6,Eigen::Dynamic> Matrix6x;
16
17			template<typename JointModel>
18		22	void test_constraint_mimic(const JointModelBase<JointModel> & jmodel)
19			{
20			typedef typename traits<JointModel>::JointDerived Joint;
21			typedef typename traits<Joint>::Constraint_t ConstraintType;
22			typedef typename traits<Joint>::JointDataDerived JointData;
23			typedef ScaledConstraint<ConstraintType> ScaledConstraintType;
24
25	✓✗	22	JointData jdata = jmodel.createData();
26
27		22	const double scaling_factor = 2.;
28	✓✗✓✗	4	ConstraintType constraint_ref(jdata.S), constraint_ref_shared(jdata.S);
29	✓✗	22	ScaledConstraintType scaled_constraint(constraint_ref_shared,scaling_factor);
30
31	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	22	BOOST_CHECK(constraint_ref.nv() == scaled_constraint.nv());
32
33			typedef typename JointModel::TangentVector_t TangentVector_t;
34	✓✗✓✗	22	TangentVector_t v = TangentVector_t::Random();
35
36	✓✗✓✗	22	Motion m = scaled_constraint * v;
37	✓✗✓✗ ✓✗	22	Motion m_ref = scaling_factor * (Motion)(constraint_ref * v);
38
39	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	22	BOOST_CHECK(m.isApprox(m_ref));
40
41			{
42	✓✗	22	SE3 M = SE3::Random();
43	✓✗	22	typename ScaledConstraintType::DenseBase S = M.act(scaled_constraint);
44	✓✗✓✗ ✓✗	22	typename ScaledConstraintType::DenseBase S_ref = scaling_factor * M.act(constraint_ref);
45
46	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	22	BOOST_CHECK(S.isApprox(S_ref));
47			}
48
49			{
50	✓✗	22	typename ScaledConstraintType::DenseBase S = scaled_constraint.matrix();
51	✓✗✓✗ ✓✗	22	typename ScaledConstraintType::DenseBase S_ref = scaling_factor * constraint_ref.matrix();
52
53	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	22	BOOST_CHECK(S.isApprox(S_ref));
54			}
55
56			{
57	✓✗	22	Motion v = Motion::Random();
58	✓✗	22	typename ScaledConstraintType::DenseBase S = v.cross(scaled_constraint);
59	✓✗✓✗ ✓✗	22	typename ScaledConstraintType::DenseBase S_ref = scaling_factor * v.cross(constraint_ref);
60
61	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	22	BOOST_CHECK(S.isApprox(S_ref));
62			}
63
64			// Test transpose operations
65			{
66		22	const Eigen::DenseIndex dim = 20;
67	✓✗✓✗	44	const Matrix6x Fin = Matrix6x::Random(6,dim);
68	✓✗✓✗ ✓✗	44	Eigen::MatrixXd Fout = scaled_constraint.transpose() * Fin;
69	✓✗✓✗ ✓✗✓✗	44	Eigen::MatrixXd Fout_ref = scaling_factor * (constraint_ref.transpose() * Fin);
70	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	22	BOOST_CHECK(Fout.isApprox(Fout_ref));
71
72	✓✗	22	Force force_in(Force::Random());
73	✓✗✓✗ ✓✗	44	Eigen::MatrixXd Stf = (scaled_constraint.transpose() * force_in);
74	✓✗✓✗ ✓✗✓✗	44	Eigen::MatrixXd Stf_ref = scaling_factor * (constraint_ref.transpose() * force_in);
75	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	22	BOOST_CHECK(Stf_ref.isApprox(Stf));
76			}
77
78			// CRBA Y*S
79			{
80	✓✗	22	Inertia Y = Inertia::Random();
81	✓✗✓✗	44	Eigen::MatrixXd YS = Y * scaled_constraint;
82	✓✗✓✗ ✓✗	44	Eigen::MatrixXd YS_ref = scaling_factor * (Y * constraint_ref);
83
84	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	22	BOOST_CHECK(YS.isApprox(YS_ref));
85			}
86
87		22	}
88
89			struct TestJointConstraint
90			{
91
92			template <typename JointModel>
93		18	void operator()(const JointModelBase<JointModel> &) const
94			{
95	✓✗	18	JointModel jmodel;
96	✓✗	18	jmodel.setIndexes(0,0,0);
97
98	✓✗	18	test_constraint_mimic(jmodel);
99		18	}
100
101		1	void operator()(const JointModelBase<JointModelRevoluteUnaligned> &) const
102			{
103	✓✗	1	JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
104	✓✗	1	jmodel.setIndexes(0,0,0);
105
106	✓✗	1	test_constraint_mimic(jmodel);
107		1	}
108
109		1	void operator()(const JointModelBase<JointModelPrismaticUnaligned> &) const
110			{
111	✓✗	1	JointModelPrismaticUnaligned jmodel(1.5, 1., 0.);
112	✓✗	1	jmodel.setIndexes(0,0,0);
113
114	✓✗	1	test_constraint_mimic(jmodel);
115		1	}
116
117			};
118
119	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_constraint)
120			{
121			using namespace pinocchio;
122			typedef boost::variant<
123			JointModelRX, JointModelRY, JointModelRZ
124			, JointModelRevoluteUnaligned
125			, JointModelPX, JointModelPY, JointModelPZ
126			, JointModelPrismaticUnaligned
127			, JointModelRUBX, JointModelRUBY, JointModelRUBZ
128			> Variant;
129
130	✓✗	2	boost::mpl::for_each<Variant::types>(TestJointConstraint());
131		2	}
132
133			template<typename JointModel>
134		22	void test_joint_mimic(const JointModelBase<JointModel> & jmodel)
135			{
136			typedef typename traits<JointModel>::JointDerived Joint;
137			typedef typename traits<Joint>::JointDataDerived JointData;
138
139	✓✗	22	JointData jdata = jmodel.createData();
140
141		22	const double scaling_factor = 1.;
142		22	const double offset = 0.;
143
144			typedef JointMimic<Joint> JointMimicType;
145			typedef typename traits<JointMimicType>::JointModelDerived JointModelMimicType;
146			typedef typename traits<JointMimicType>::JointDataDerived JointDataMimicType;
147
148			// test constructor
149	✓✗	22	JointModelMimicType jmodel_mimic(jmodel.derived(),scaling_factor,offset);
150	✓✗	22	JointDataMimicType jdata_mimic = jmodel_mimic.createData();
151
152	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	22	BOOST_CHECK(jmodel_mimic.nq() == 0);
153	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	22	BOOST_CHECK(jmodel_mimic.nv() == 0);
154
155	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	22	BOOST_CHECK(jmodel_mimic.idx_q() == jmodel.idx_q());
156	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	22	BOOST_CHECK(jmodel_mimic.idx_v() == jmodel.idx_v());
157
158	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	22	BOOST_CHECK(jmodel_mimic.idx_q() == 0);
159	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	22	BOOST_CHECK(jmodel_mimic.idx_v() == 0);
160
161			typedef typename JointModelMimicType::ConfigVector_t ConfigVectorType;
162			typedef typename LieGroup<JointModel>::type LieGroupType;
163	✓✗✓✗ ✓✗✓✗ ✓✗	22	ConfigVectorType q0 = LieGroupType().randomConfiguration(-ConfigVectorType::Ones(),ConfigVectorType::Ones());
164
165	✓✗	22	jmodel.calc(jdata,q0);
166	✓✗	22	jmodel_mimic.calc(jdata_mimic,q0);
167
168	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	22	BOOST_CHECK(((SE3)jdata.M).isApprox((SE3)jdata_mimic.M()));
169	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	22	BOOST_CHECK(jdata.S.matrix().isApprox(jdata_mimic.S.matrix()));
170
171			typedef typename JointModelMimicType::TangentVector_t TangentVectorType;
172
173	✓✗✓✗ ✓✗✓✗ ✓✗	22	q0 = LieGroupType().randomConfiguration(-ConfigVectorType::Ones(),ConfigVectorType::Ones());
174	✓✗✓✗	22	TangentVectorType v0 = TangentVectorType::Random();
175	✓✗	22	jmodel.calc(jdata,q0,v0);
176	✓✗	22	jmodel_mimic.calc(jdata_mimic,q0,v0);
177
178	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	22	BOOST_CHECK(((SE3)jdata.M).isApprox((SE3)jdata_mimic.M()));
179	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	22	BOOST_CHECK(jdata.S.matrix().isApprox(jdata_mimic.S.matrix()));
180	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	22	BOOST_CHECK(((Motion)jdata.v).isApprox((Motion)jdata_mimic.v()));
181		22	}
182
183			struct TestJointMimic
184			{
185
186			template <typename JointModel>
187		18	void operator()(const JointModelBase<JointModel> &) const
188			{
189	✓✗	18	JointModel jmodel;
190	✓✗	18	jmodel.setIndexes(0,0,0);
191
192	✓✗	18	test_joint_mimic(jmodel);
193		18	}
194
195		1	void operator()(const JointModelBase<JointModelRevoluteUnaligned> &) const
196			{
197	✓✗	1	JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
198	✓✗	1	jmodel.setIndexes(0,0,0);
199
200	✓✗	1	test_joint_mimic(jmodel);
201		1	}
202
203		1	void operator()(const JointModelBase<JointModelPrismaticUnaligned> &) const
204			{
205	✓✗	1	JointModelPrismaticUnaligned jmodel(1.5, 1., 0.);
206	✓✗	1	jmodel.setIndexes(0,0,0);
207
208	✓✗	1	test_joint_mimic(jmodel);
209		1	}
210
211			};
212
213	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_joint)
214			{
215			using namespace pinocchio;
216			typedef boost::variant<
217			JointModelRX, JointModelRY, JointModelRZ
218			, JointModelRevoluteUnaligned
219			, JointModelPX, JointModelPY, JointModelPZ
220			, JointModelPrismaticUnaligned
221			, JointModelRUBX, JointModelRUBY, JointModelRUBZ
222			> Variant;
223
224	✓✗	2	boost::mpl::for_each<Variant::types>(TestJointMimic());
225		2	}
226
227	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_transform_linear_affine)
228			{
229			typedef JointModelRX::ConfigVector_t ConfigVectorType;
230		2	double scaling = 1., offset = 0.;
231
232	✓✗✓✗	2	ConfigVectorType q0 = ConfigVectorType::Random();
233	✓✗	2	ConfigVectorType q1;
234	✓✗	2	LinearAffineTransform::run(q0,scaling,offset,q1);
235	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(q0 == q1);
236
237		2	offset = 2.;
238	✓✗✓✗	2	LinearAffineTransform::run(ConfigVectorType::Zero(),scaling,offset,q1);
239	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(q1 == ConfigVectorType::Constant(offset));
240		2	}
241
242	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_transform_linear_revolute)
243			{
244			typedef JointModelRUBX::ConfigVector_t ConfigVectorType;
245		2	double scaling = 1., offset = 0.;
246
247	✓✗✓✗	2	ConfigVectorType q0 = ConfigVectorType::Random().normalized();
248	✓✗	2	ConfigVectorType q1;
249	✓✗	2	UnboundedRevoluteAffineTransform::run(q0,scaling,offset,q1);
250	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(q0.isApprox(q1));
251
252		2	offset = 2.;
253	✓✗✓✗	2	UnboundedRevoluteAffineTransform::run(ConfigVectorType::Zero(),scaling,offset,q1);
254	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(q1 == ConfigVectorType(math::cos(offset),math::sin(offset)));
255		2	}
256
257	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_joint_generic_cast)
258			{
259	✓✗	2	JointModelRX jmodel_ref;
260	✓✗	2	jmodel_ref.setIndexes(1,2,3);
261
262	✓✗	2	JointModelMimic<JointModelRX> jmodel(jmodel_ref,2.,1.);
263	✓✗	2	jmodel.setIndexes(1,-1,-1);
264
265	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(jmodel.id() == jmodel_ref.id());
266	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(jmodel.idx_q() == jmodel_ref.idx_q());
267	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(jmodel.idx_v() == jmodel_ref.idx_v());
268
269	✓✗	4	JointModel jmodel_generic(jmodel);
270	✓✗	2	jmodel_generic.setIndexes(1,-2,-2);
271
272	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(jmodel_generic.id() == jmodel_ref.id());
273		2	}
274			BOOST_AUTO_TEST_SUITE_END()