From 2aa7ce1adf1e094349219ee2dc9d6bb0aed06214 Mon Sep 17 00:00:00 2001
From: stevet <stevetonneau@gotmail.fr>
Date: Thu, 15 Nov 2018 21:28:00 +0100
Subject: [PATCH] added unconstrained end state option
---
CMakeLists.txt | 4 ++--
tests/test-transition.cc | 9 ++++-----
2 files changed, 6 insertions(+), 7 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e82eae7..0b2d2db 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,8 +33,8 @@ SETUP_PROJECT()
string (REPLACE "-Werror" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
MESSAGE( STATUS "CMAKE_CXX_FLAGS: " ${CMAKE_CXX_FLAGS} )
-OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
-OPTION (USE_GLPK "Use sparse lp solver" ON)
+OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" OFF)
+OPTION (USE_GLPK "Use sparse lp solver" OFF)
IF(BUILD_PYTHON_INTERFACE)
# search for python
diff --git a/tests/test-transition.cc b/tests/test-transition.cc
index 1acee45..a6fd33c 100644
--- a/tests/test-transition.cc
+++ b/tests/test-transition.cc
@@ -302,13 +302,12 @@ BOOST_AUTO_TEST_CASE(transition_noc1){
BOOST_AUTO_TEST_CASE(transition_no_terminal_constraints){
bezier_com_traj::ProblemData pData = gen_problem_data_flat();
- std::cout << pData.contacts_.size() << std::endl;
pData.contacts_.pop_back();
- std::cout << pData.contacts_.size() << std::endl;
+ pData.contacts_.pop_back();
pData.constraints_.flag_ = bezier_com_traj::INIT_POS | bezier_com_traj::INIT_VEL | bezier_com_traj::INIT_ACC;
- VectorX Ts(2);
- Ts<<0.6,0.2;
- check_transition(pData,Ts,false);
+ VectorX Ts(1);
+ Ts<<0.2;
+ check_transition(pData,Ts,false,false,false);
}
BOOST_AUTO_TEST_CASE(transition_noDc1){
--
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