Head

GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	unittest/value.cpp	Lines:	90	90	100.0 %
Date:	2024-01-23 21:41:47	Branches:	502	990	50.7 %


//
// Copyright (c) 2015-2018 CNRS
//

/*
 * Compare the value obtained with the RNEA with the values obtained from
 * RBDL. The test is not complete. It only validates the RNEA for the revolute
 * joints. The free-flyer is not tested. It should be extended to account for
 * the free flyer and for the other algorithms.
 *
 * Additionnal notes: the RNEA is an algorithm that can be used to validate
 * many others (in particular, the mass matrix (CRBA) can be numerically
 * validated from the RNEA, then the center-of-mass jacobian can be validated
 * from the mass matrix, etc.
 *
 */

#include <iostream>
#include <iomanip>

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/kinematics.hpp"

#include <boost/test/unit_test.hpp>

BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )

BOOST_AUTO_TEST_CASE ( test_000 )
{
  std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");

  pinocchio::Model model;
  pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
  model.gravity.linear( Eigen::Vector3d(0,0,-9.8));
  pinocchio::Data data(model);


  Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq);
  Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
  Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);

  std::cout << std::setprecision(10);

  Eigen::VectorXd expected(model.nv);
  expected <<   0, 0, 1281.84, 0, -40.5132, 0, 4.4492, -1.5386, 0, -1.5386, -1.5386, 0, -4.4492, -1.5386, 0, -1.5386, -1.5386, 0, -37.436, 0, 0, -2.548, 0, 0, 0.392, 0, 0.392, 0, -2.548, 0, 0, 0.392, 0, 0.392, 0 ;
  q = Eigen::VectorXd::Zero(model.nq);
  v = Eigen::VectorXd::Zero(model.nv);
  a = Eigen::VectorXd::Zero(model.nv);
  rnea(model,data,q,v,a);
  BOOST_CHECK (expected.isApprox(data.tau,1e-12));
}


BOOST_AUTO_TEST_CASE( test_0V0 )
{
  std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");

  pinocchio::Model model;
  pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
  model.gravity.linear( Eigen::Vector3d(0,0,-9.8));
  pinocchio::Data data(model);


  Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq);
  Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
  Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);

  std::cout << std::setprecision(10);

  Eigen::VectorXd expected(model.nv);
  expected <<  -48.10636, -73.218816, 1384.901025, -7.2292939, -186.342371, -20.6685852, -0.78887946, -1.869651075, 1.8889752, -2.036768175, -2.105948175, -1.023232, -18.3738505, -4.133954895, 9.0456456, -4.276615035, -4.143427035, -2.534896, -180.338765, 15.71570676, -29.8639164, -59.917862, -2.3307916, -2.7648728, -45.76782776, 3.4151272, -18.4320456, -4.5768072, -76.60945104, -0.5897908, -2.640844, -63.93417064, 5.359156, -25.8309196, -6.976116;
  q = Eigen::VectorXd::Zero(model.nq);
  for(int i=6;i<model.nv;++i) v[i] = i/10.;
  a = Eigen::VectorXd::Zero(model.nv);
  rnea(model,data,q,v,a);
  //std::cout << (expected-data.tau).norm() << std::endl;
  BOOST_CHECK (expected.isApprox(data.tau,1e-7));
}

BOOST_AUTO_TEST_CASE( test_0VA )
{
  std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");

  pinocchio::Model model;
  pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
  model.gravity.linear( Eigen::Vector3d(0,0,-9.8));
  pinocchio::Data data(model);


  Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq);
  Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
  Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);

  std::cout << std::setprecision(10);
  Eigen::VectorXd expected(model.nv);
  expected << -15.3331636, -0.67891816, 1273.80521, 102.9435113, 110.3509945, 81.52296995, 13.31476408, 14.26606068, 3.682505252, 9.048274318, 4.663303518, 2.05308568, 12.54347834, 25.92680911, 6.327105656, 16.71123385, 8.96650473, 3.54200704, 70.15812475, 77.02410963, 73.81994844, 41.73185754, 28.75786872, 28.94251127, 31.65847724, 20.40431127, 18.18579154, 6.838471928, 50.44193173, 34.07362801, 34.53507156, 38.33983417, 24.61507156, 22.2842788, 8.23435884;
  q = Eigen::VectorXd::Zero(model.nq);
  for(int i=6;i<model.nv;++i) v[i] = i/100.;
  for(int i=6;i<model.nv;++i) a[i] = i/10.;
  rnea(model,data,q,v,a);
  BOOST_CHECK (expected.isApprox(data.tau,1e-6));
}

BOOST_AUTO_TEST_CASE( test_Q00 )
{
  std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");

  pinocchio::Model model;
  pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
  model.gravity.linear( Eigen::Vector3d(0,0,-9.8));
  pinocchio::Data data(model);


  Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq);
  Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
  Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);

  std::cout << std::setprecision(10);

  Eigen::VectorXd expected(model.nv);
  expected << 5.367234435e-15, -2.587860481e-14, 1281.84, -133.3062501, 198.975587, -7.120345979e-16, 15.06850407, 58.39287139, -22.14971864, 17.14327289, 1.291543104, 0.7402017048, -4.386231387, 22.73949408, -19.01681794, 0.8839600793, -0.3197599308, -0.466827706, 65.47086697, 32.71449398, -4.250622066, -0.7937685568, -0.15349648, -1.070480752, -3.066302263, -0.3557903212, -0.2183951073, 0.182684221, -0.6648425468, -2.902772493, 0.1250340934, 0.4402877138, -0.3158584741, -0.0865162794, 0.3918733239;
  for(int i=7;i<model.nq;++i) q[i] = (i-1)/10.;
  v = Eigen::VectorXd::Zero(model.nv);
  a = Eigen::VectorXd::Zero(model.nv);
  rnea(model,data,q,v,a);
//  std::cout << expected << "\n ---------------- \n"
//            << data.tau << std::endl;

    BOOST_CHECK (expected.isApprox(data.tau,1e-6));

}

BOOST_AUTO_TEST_CASE( test_QVA )
{
  std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");

  pinocchio::Model model;
  pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
  model.gravity.linear( Eigen::Vector3d(0,0,-9.8));
  pinocchio::Data data(model);


  Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq);
  Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
  Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);

  std::cout << std::setprecision(10);
  Eigen::VectorXd expected(model.nv);
  expected <<  -1.911650826, 1.250211406, 1284.82058, -139.0188156, 201.744449, 1.554847332, 15.1910084, 59.27339983, -21.70753738, 17.84339797, 1.754639468, 0.670280632, -2.968778954, 23.0776205, -17.56870284, 1.765761886, 0.2889992363, -0.392159764, 68.83598707, 34.59002827, -4.604435817, -0.3832225891, 1.085231916, -0.348635267, -2.831371037, -1.047616506, -0.228384161, 0.5656880079, 1.302869049, 0.8481280783, 0.7042182131, 1.554751317, -0.3908790552, -0.1294643218, 1.421077555;
  for(int i=7;i<model.nq;++i) q[i] = (i-1)/10.;
  for(int i=6;i<model.nv;++i) v[i] = i/100.;
  for(int i=6;i<model.nv;++i) a[i] = i/100.;
  rnea(model,data,q,v,a);
  BOOST_CHECK (expected.isApprox(data.tau,1e-7));
}

BOOST_AUTO_TEST_SUITE_END ()


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2018 CNRS
3			//
4
5			/*
6			* Compare the value obtained with the RNEA with the values obtained from
7			* RBDL. The test is not complete. It only validates the RNEA for the revolute
8			* joints. The free-flyer is not tested. It should be extended to account for
9			* the free flyer and for the other algorithms.
10			*
11			* Additionnal notes: the RNEA is an algorithm that can be used to validate
12			* many others (in particular, the mass matrix (CRBA) can be numerically
13			* validated from the RNEA, then the center-of-mass jacobian can be validated
14			* from the mass matrix, etc.
15			*
16			*/
17
18			#include <iostream>
19			#include <iomanip>
20
21			#include "pinocchio/multibody/model.hpp"
22			#include "pinocchio/multibody/data.hpp"
23			#include "pinocchio/parsers/urdf.hpp"
24			#include "pinocchio/algorithm/rnea.hpp"
25			#include "pinocchio/algorithm/kinematics.hpp"
26
27			#include <boost/test/unit_test.hpp>
28
29			BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
30
31	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE ( test_000 )
32			{
33	✓✗✓✗	6	std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
34
35	✓✗	4	pinocchio::Model model;
36	✓✗✓✗ ✓✗	2	pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
37	✓✗✓✗	2	model.gravity.linear( Eigen::Vector3d(0,0,-9.8));
38	✓✗	4	pinocchio::Data data(model);
39
40
41	✓✗✓✗	4	Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq);
42	✓✗✓✗	4	Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
43	✓✗✓✗	4	Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);
44
45	✓✗	2	std::cout << std::setprecision(10);
46
47	✓✗	4	Eigen::VectorXd expected(model.nv);
48	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	2	expected << 0, 0, 1281.84, 0, -40.5132, 0, 4.4492, -1.5386, 0, -1.5386, -1.5386, 0, -4.4492, -1.5386, 0, -1.5386, -1.5386, 0, -37.436, 0, 0, -2.548, 0, 0, 0.392, 0, 0.392, 0, -2.548, 0, 0, 0.392, 0, 0.392, 0 ;
49	✓✗✓✗	2	q = Eigen::VectorXd::Zero(model.nq);
50	✓✗✓✗	2	v = Eigen::VectorXd::Zero(model.nv);
51	✓✗✓✗	2	a = Eigen::VectorXd::Zero(model.nv);
52	✓✗	2	rnea(model,data,q,v,a);
53	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK (expected.isApprox(data.tau,1e-12));
54		2	}
55
56
57	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE( test_0V0 )
58			{
59	✓✗✓✗	6	std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
60
61	✓✗	4	pinocchio::Model model;
62	✓✗✓✗ ✓✗	2	pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
63	✓✗✓✗	2	model.gravity.linear( Eigen::Vector3d(0,0,-9.8));
64	✓✗	4	pinocchio::Data data(model);
65
66
67	✓✗✓✗	4	Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq);
68	✓✗✓✗	4	Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
69	✓✗✓✗	4	Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);
70
71	✓✗	2	std::cout << std::setprecision(10);
72
73	✓✗	4	Eigen::VectorXd expected(model.nv);
74	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	2	expected << -48.10636, -73.218816, 1384.901025, -7.2292939, -186.342371, -20.6685852, -0.78887946, -1.869651075, 1.8889752, -2.036768175, -2.105948175, -1.023232, -18.3738505, -4.133954895, 9.0456456, -4.276615035, -4.143427035, -2.534896, -180.338765, 15.71570676, -29.8639164, -59.917862, -2.3307916, -2.7648728, -45.76782776, 3.4151272, -18.4320456, -4.5768072, -76.60945104, -0.5897908, -2.640844, -63.93417064, 5.359156, -25.8309196, -6.976116;
75	✓✗✓✗	2	q = Eigen::VectorXd::Zero(model.nq);
76	✓✓✓✗	60	for(int i=6;i<model.nv;++i) v[i] = i/10.;
77	✓✗✓✗	2	a = Eigen::VectorXd::Zero(model.nv);
78	✓✗	2	rnea(model,data,q,v,a);
79			//std::cout << (expected-data.tau).norm() << std::endl;
80	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK (expected.isApprox(data.tau,1e-7));
81		2	}
82
83	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE( test_0VA )
84			{
85	✓✗✓✗	6	std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
86
87	✓✗	4	pinocchio::Model model;
88	✓✗✓✗ ✓✗	2	pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
89	✓✗✓✗	2	model.gravity.linear( Eigen::Vector3d(0,0,-9.8));
90	✓✗	4	pinocchio::Data data(model);
91
92
93	✓✗✓✗	4	Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq);
94	✓✗✓✗	4	Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
95	✓✗✓✗	4	Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);
96
97	✓✗	2	std::cout << std::setprecision(10);
98	✓✗	4	Eigen::VectorXd expected(model.nv);
99	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	2	expected << -15.3331636, -0.67891816, 1273.80521, 102.9435113, 110.3509945, 81.52296995, 13.31476408, 14.26606068, 3.682505252, 9.048274318, 4.663303518, 2.05308568, 12.54347834, 25.92680911, 6.327105656, 16.71123385, 8.96650473, 3.54200704, 70.15812475, 77.02410963, 73.81994844, 41.73185754, 28.75786872, 28.94251127, 31.65847724, 20.40431127, 18.18579154, 6.838471928, 50.44193173, 34.07362801, 34.53507156, 38.33983417, 24.61507156, 22.2842788, 8.23435884;
100	✓✗✓✗	2	q = Eigen::VectorXd::Zero(model.nq);
101	✓✓✓✗	60	for(int i=6;i<model.nv;++i) v[i] = i/100.;
102	✓✓✓✗	60	for(int i=6;i<model.nv;++i) a[i] = i/10.;
103	✓✗	2	rnea(model,data,q,v,a);
104	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK (expected.isApprox(data.tau,1e-6));
105		2	}
106
107	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE( test_Q00 )
108			{
109	✓✗✓✗	6	std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
110
111	✓✗	4	pinocchio::Model model;
112	✓✗✓✗ ✓✗	2	pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
113	✓✗✓✗	2	model.gravity.linear( Eigen::Vector3d(0,0,-9.8));
114	✓✗	4	pinocchio::Data data(model);
115
116
117	✓✗✓✗	4	Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq);
118	✓✗✓✗	4	Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
119	✓✗✓✗	4	Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);
120
121	✓✗	2	std::cout << std::setprecision(10);
122
123	✓✗	4	Eigen::VectorXd expected(model.nv);
124	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	2	expected << 5.367234435e-15, -2.587860481e-14, 1281.84, -133.3062501, 198.975587, -7.120345979e-16, 15.06850407, 58.39287139, -22.14971864, 17.14327289, 1.291543104, 0.7402017048, -4.386231387, 22.73949408, -19.01681794, 0.8839600793, -0.3197599308, -0.466827706, 65.47086697, 32.71449398, -4.250622066, -0.7937685568, -0.15349648, -1.070480752, -3.066302263, -0.3557903212, -0.2183951073, 0.182684221, -0.6648425468, -2.902772493, 0.1250340934, 0.4402877138, -0.3158584741, -0.0865162794, 0.3918733239;
125	✓✓✓✗	60	for(int i=7;i<model.nq;++i) q[i] = (i-1)/10.;
126	✓✗✓✗	2	v = Eigen::VectorXd::Zero(model.nv);
127	✓✗✓✗	2	a = Eigen::VectorXd::Zero(model.nv);
128	✓✗	2	rnea(model,data,q,v,a);
129			// std::cout << expected << "\n ---------------- \n"
130			// << data.tau << std::endl;
131
132	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK (expected.isApprox(data.tau,1e-6));
133
134		2	}
135
136	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE( test_QVA )
137			{
138	✓✗✓✗	6	std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
139
140	✓✗	4	pinocchio::Model model;
141	✓✗✓✗ ✓✗	2	pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
142	✓✗✓✗	2	model.gravity.linear( Eigen::Vector3d(0,0,-9.8));
143	✓✗	4	pinocchio::Data data(model);
144
145
146	✓✗✓✗	4	Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq);
147	✓✗✓✗	4	Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
148	✓✗✓✗	4	Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);
149
150	✓✗	2	std::cout << std::setprecision(10);
151	✓✗	4	Eigen::VectorXd expected(model.nv);
152	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	2	expected << -1.911650826, 1.250211406, 1284.82058, -139.0188156, 201.744449, 1.554847332, 15.1910084, 59.27339983, -21.70753738, 17.84339797, 1.754639468, 0.670280632, -2.968778954, 23.0776205, -17.56870284, 1.765761886, 0.2889992363, -0.392159764, 68.83598707, 34.59002827, -4.604435817, -0.3832225891, 1.085231916, -0.348635267, -2.831371037, -1.047616506, -0.228384161, 0.5656880079, 1.302869049, 0.8481280783, 0.7042182131, 1.554751317, -0.3908790552, -0.1294643218, 1.421077555;
153	✓✓✓✗	60	for(int i=7;i<model.nq;++i) q[i] = (i-1)/10.;
154	✓✓✓✗	60	for(int i=6;i<model.nv;++i) v[i] = i/100.;
155	✓✓✓✗	60	for(int i=6;i<model.nv;++i) a[i] = i/100.;
156	✓✗	2	rnea(model,data,q,v,a);
157	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK (expected.isApprox(data.tau,1e-7));
158		2	}
159
160			BOOST_AUTO_TEST_SUITE_END ()