{

srand(0);

using namespace pinocchio;

typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;

const int max_size = 1000;

#ifdef NDEBUG

const int max_test = 1e6;

#else

const int max_test = 1e2;

#endif

for (int i = 0; i < max_test; i)

{

const Eigen::DenseIndex size = rand() % max_size 1; // random vector size

Vector vec;

vec = Vector::Random(size) Vector::Constant(size, 2.);

BOOST_CHECK(!isNormalized(vec));

vec.normalize();

BOOST_CHECK(isNormalized(vec));

// Specific check for the Zero vector

BOOST_CHECK(!isNormalized(Vector(Vector::Zero(size))));

}