• gen_rand() : test_jacobian.cpp
• main() : test_constraint_aware_kinematics.cpp , test_jacobian.cpp , test_kinematics_as_plugin.cpp
• NOT_NEAR() : test_jacobian.cpp
• TEST() : test_constraint_aware_kinematics.cpp , test_jacobian.cpp , test_kinematics_as_plugin.cpp
• testJacobian() : test_jacobian.cpp