GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	152	152	100.0%
Branches:	808	1640	49.3%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2022 CNRS INRIA
3			//
4
5			#include <iostream>
6			#include <fstream>
7			#include <streambuf>
8
9			#include "pinocchio/multibody/model.hpp"
10			#include "pinocchio/parsers/urdf.hpp"
11
12			#ifdef PINOCCHIO_WITH_HPP_FCL
13			#include <hpp/fcl/collision_object.h>
14			#endif // PINOCCHIO_WITH_HPP_FCL
15
16			#include <boost/test/unit_test.hpp>
17
18			#include <urdf_parser/urdf_parser.h>
19
20			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
21
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23			{
24			const std::string filename =
25			PINOCCHIO_MODEL_DIR
26	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
27	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string dir = PINOCCHIO_MODEL_DIR;
28
29	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
30	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::urdf::buildModel(filename, model);
31	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::GeometryModel geomModel;
32	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, dir);
33
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35		2	}
36
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38			{
39	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
40	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string dir = PINOCCHIO_MODEL_DIR;
41
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
43	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	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
44	6/12 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK(model.names[1] == "root_joint");
45
46	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_name;
47	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string name_ = "freeFlyer_joint";
48	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	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), name_, model_name);
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50		2	}
51
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53			{
54	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
55	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string dir = PINOCCHIO_MODEL_DIR;
56
57	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
58	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::urdf::buildModel(filename, model);
59
60	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_EQUAL(model.nq, 29);
61
62			// Check that parsing collision_checking works.
63	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::GeometryModel geomModel;
64	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, dir);
65	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_EQUAL(geomModel.ngeoms, 2);
66
67			#ifdef PINOCCHIO_WITH_HPP_FCL
68			// Check that cylinder is converted into capsule.
69			#ifdef PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
70			BOOST_CHECK_EQUAL(geomModel.geometryObjects[0].geometry->getNodeType(), hpp::fcl::GEOM_CYLINDER);
71			#else // PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
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73			#endif
74
75			#ifndef PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
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77			#else // PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
78			BOOST_CHECK_EQUAL(geomModel.geometryObjects[1].geometry->getObjectType(), hpp::fcl::OT_BVH);
79			#endif
80			#endif // PINOCCHIO_WITH_HPP_FCL
81
82	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_ff;
83	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	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model_ff);
84
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86		2	}
87
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89			{
90	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
91	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string dir = PINOCCHIO_MODEL_DIR;
92
93	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model0;
94	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::urdf::buildModel(filename, model0);
95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::GeometryModel geomModel0;
96	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model0, filename, pinocchio::COLLISION, geomModel0, dir);
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98
99			// check if urdf with relative mesh path without //package can be loaded
100	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid_rel_mesh.urdf");
101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model1;
102	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::urdf::buildModel(filename, model1);
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::GeometryModel geomModel1;
104	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model1, filename, pinocchio::COLLISION, geomModel1, dir);
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106
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108			geomModel0.geometryObjects[1].name.compare(geomModel1.geometryObjects[1].name), 0);
109		2	}
110
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112			{
113			const std::string filename =
114			PINOCCHIO_MODEL_DIR
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116
117			// Read file as XML
118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::ifstream file;
119	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	file.open(filename.c_str());
120	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::string filestr((std::istreambuf_iterator<char>(file)), std::istreambuf_iterator<char>());
121
122	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
123	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::urdf::buildModelFromXML(filestr, model);
124
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126		2	}
127
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129			{
130			// Read file as XML
131			std::string filestr("<?xml version=\"1.0\" encoding=\"utf-8\"?>"
132			"<robot name=\"test\">"
133			" <link name=\"base_link\"/>"
134			" <link name=\"link_1\"/>"
135			" <link name=\"link_2\"/>"
136			" <joint name=\"joint_1\" type=\"fixed\">"
137			" <origin xyz=\"1 0 0\"/>"
138			" <axis xyz=\"0 0 1\"/>"
139			" <parent link=\"base_link\"/>"
140			" <child link=\"link_1\"/>"
141			" </joint>"
142			" <joint name=\"joint_2\" type=\"fixed\">"
143			" <origin xyz=\"0 1 0\"/>"
144			" <axis xyz=\"0 0 1\"/>"
145			" <parent link=\"link_1\"/>"
146			" <child link=\"link_2\"/>"
147			" </joint>"
148	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	"</robot>");
149
150	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
151	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::urdf::buildModelFromXML(filestr, model);
152
153	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	pinocchio::JointIndex base_link_id = model.getFrameId("base_link"),
154	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	link1_id = model.getFrameId("link_1"),
155	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	link2_id = model.getFrameId("link_2"),
156	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	joint1_id = model.getFrameId("joint_1"),
157	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	joint2_id = model.getFrameId("joint_2");
158
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163		2	}
164
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166			{
167			const std::string filename =
168			PINOCCHIO_MODEL_DIR
169	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
170
171	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);
172
173	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
174	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildModel(urdfTree, model);
175
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177		2	}
178
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180			{
181			const std::string filename =
182			PINOCCHIO_MODEL_DIR
183	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
184	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string dir = PINOCCHIO_MODEL_DIR;
185
186	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
187	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	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
188	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::GeometryModel geomModel_collision, geomModel_visual;
189	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel_collision, dir);
190	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::VISUAL, geomModel_visual, dir);
191
192	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(model.nq == 38);
193		2	}
194
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196			{
197			const std::string filename =
198			PINOCCHIO_MODEL_DIR
199	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
200
201			// Read file as XML
202	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::ifstream file;
203	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	file.open(filename.c_str());
204	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::string filestr((std::istreambuf_iterator<char>(file)), std::istreambuf_iterator<char>());
205
206	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
207	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	pinocchio::urdf::buildModelFromXML(filestr, pinocchio::JointModelFreeFlyer(), model);
208
209	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(model.nq == 38);
210		2	}
211
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213			{
214			const std::string filename =
215			PINOCCHIO_MODEL_DIR
216	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
217
218	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);
219
220	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
221	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	pinocchio::urdf::buildModel(urdfTree, pinocchio::JointModelFreeFlyer(), model);
222
223	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(model.nq == 38);
224		2	}
225
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227			{
228	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
229
230	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
231	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::urdf::buildModel(filename, model);
232
233	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(model.njoints == 30);
234		2	const int nframes = model.nframes;
235			const std::string filestr("<?xml version=\"1.0\" encoding=\"utf-8\"?>"
236			"<robot name=\"test\">"
237			" <link name=\"box\"/>"
238	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	"</robot>");
239
240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::urdf::buildModelFromXML(filestr, model);
241	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(model.njoints == 30);
242	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(nframes + 1 == model.nframes);
243		2	}
244
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246			{
247	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
248
249	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
250	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	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
251
252	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(model.njoints == 31);
253			const std::string filestr("<?xml version=\"1.0\" encoding=\"utf-8\"?>"
254			"<robot name=\"test\">"
255			" <link name=\"box\"/>"
256	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	4	"</robot>");
257
258	13/38 ✓ 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 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken. ✗ Branch 30 not taken. ✗ Branch 31 not taken. ✗ Branch 33 not taken. ✗ Branch 34 not taken. ✗ Branch 38 not taken. ✗ Branch 39 not taken. ✗ Branch 41 not taken. ✓ Branch 42 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 47 taken 1 times. ✓ Branch 50 taken 1 times. ✗ Branch 51 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 59 taken 1 times. ✗ Branch 60 not taken. ✓ Branch 62 taken 1 times. ✗ Branch 63 not taken. ✓ Branch 65 taken 1 times. ✗ Branch 66 not taken. ✗ Branch 70 not taken. ✓ Branch 71 taken 1 times.	6	BOOST_CHECK_THROW(
259			pinocchio::urdf::buildModelFromXML(filestr, pinocchio::JointModelFreeFlyer(), model),
260			std::invalid_argument);
261		2	}
262
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264			{
265	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/baxter_simple.urdf");
266
267	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
268	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::urdf::buildModel(filename, model);
269		2	}
270
271			#if defined(PINOCCHIO_WITH_HPP_FCL)
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273			{
274			typedef pinocchio::Model Model;
275			typedef pinocchio::GeometryModel GeometryModel;
276
277			std::string filename =
278			PINOCCHIO_MODEL_DIR
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280		2	std::vector<std::string> packageDirs;
281	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::string meshDir = PINOCCHIO_MODEL_DIR;
282	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	packageDirs.push_back(meshDir);
283
284	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
285	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	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
286	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geomModel;
287	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, packageDirs);
288	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geomModel.addAllCollisionPairs();
289
290			GeometryModel geomModelOther =
291	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, packageDirs);
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293		2	}
294			#endif // if defined(PINOCCHIO_WITH_HPP_FCL)
295
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297			{
298			// This test checks whether the input argument of getFrameId raises an exception when multiple
299			// frames with identical names are found. Note, a model that contains a link and a joint with the
300			// same name is valid, but the look-up for e.g. getFrameId requires the explicit specification of
301			// the FrameType in order to be valid. It resolved
302			// https://github.com/stack-of-tasks/pinocchio/issues/1771
303	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
304			const std::string filename =
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306	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::urdf::buildModel(filename, model);
307
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311		2	}
312
313			BOOST_AUTO_TEST_SUITE_END()
314