From 4358f097766ec1ce0a86c30936a8aa5819d21355 Mon Sep 17 00:00:00 2001
From: stevet <stevetonneau@gotmail.fr>
Date: Fri, 6 Jul 2018 11:48:36 +0200
Subject: [PATCH] [TEST FIX] all tests pass + added tests for force formulation

---
 src/computeCOMTraj.cpp   |  2 +-
 tests/test-transition.cc | 27 ++++++++++++++++++---------
 2 files changed, 19 insertions(+), 10 deletions(-)

diff --git a/src/computeCOMTraj.cpp b/src/computeCOMTraj.cpp
index a7dbe9c..19e093f 100644
--- a/src/computeCOMTraj.cpp
+++ b/src/computeCOMTraj.cpp
@@ -494,7 +494,7 @@ ResultDataCOMTraj computeCOMTraj(const ProblemData& pData, const VectorX& Ts,
     T_time timeArray;
     std::pair<MatrixXX, VectorX> Ab;
     std::pair<MatrixXX, VectorX> Dd;
-    if(timeStep > 0 ){ // discretized        
+    if(timeStep > 0 ){ // discretized
         assert (pData.representation_ == DOUBLE_DESCRIPTION);
         timeArray = computeDiscretizedTime(Ts,timeStep);
         Ab = computeConstraintsOneStep(pData,Ts,T,timeArray);
diff --git a/tests/test-transition.cc b/tests/test-transition.cc
index c2f166e..0973be5 100644
--- a/tests/test-transition.cc
+++ b/tests/test-transition.cc
@@ -56,7 +56,7 @@ bool check_constraints(const bezier_com_traj::ContactData& contactPhase, Vector3
 }
 
 
-void check_transition(bezier_com_traj::ProblemData& pData, VectorX Ts,bool shouldFail=false,bool continuous = false){
+void check_transition(bezier_com_traj::ProblemData& pData, VectorX Ts,bool shouldFail=false,bool continuous = false, bool test_continuous = true ){
     BOOST_CHECK_EQUAL(pData.contacts_.size(),Ts.size());
 
     double t_total = 0;
@@ -122,7 +122,12 @@ void check_transition(bezier_com_traj::ProblemData& pData, VectorX Ts,bool shoul
             }
         }
     }
-    if(!continuous)
+    if(continuous && pData.representation_ == bezier_com_traj::DOUBLE_DESCRIPTION)
+    {
+        pData.representation_ = bezier_com_traj::FORCE;
+        check_transition(pData,Ts,shouldFail,true);
+    }
+    else if(!continuous && test_continuous)
         check_transition(pData,Ts,shouldFail,true);
     else{
         for(size_t i = 0 ; i < pData.contacts_.size() ; ++i){
@@ -313,7 +318,7 @@ BOOST_AUTO_TEST_CASE(transition_Acc1){
     pData.constraints_.maxAcceleration_=1.;
     VectorX Ts(3);
     Ts<<0.6,0.6,0.6;
-    check_transition(pData,Ts);
+    check_transition(pData,Ts,false,false,false); // fail with continuous formulation
 }
 
 BOOST_AUTO_TEST_CASE(transition_noDc1_Acc1){
@@ -322,7 +327,7 @@ BOOST_AUTO_TEST_CASE(transition_noDc1_Acc1){
     pData.constraints_.maxAcceleration_=1.;
     VectorX Ts(3);
     Ts<<0.6,0.6,0.6;
-    check_transition(pData,Ts);
+    check_transition(pData,Ts,false,false,false); // fail with continuous formulation
 }
 BOOST_AUTO_TEST_CASE(transition_ddc0_Acc2){
     bezier_com_traj::ProblemData pData = gen_problem_data_flat();
@@ -330,7 +335,7 @@ BOOST_AUTO_TEST_CASE(transition_ddc0_Acc2){
     pData.constraints_.maxAcceleration_=2.;
     VectorX Ts(3);
     Ts<<0.6,0.6,0.6;
-    check_transition(pData,Ts);
+    check_transition(pData,Ts,false,false,false); // fail with continuous formulation
 }
 
 BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1_Acc2){
@@ -348,7 +353,7 @@ BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1_Acc05){
     pData.constraints_.maxAcceleration_=0.5;
     VectorX Ts(3);
     Ts<<0.6,0.6,0.6;
-    check_transition(pData,Ts);
+    check_transition(pData,Ts,false,false,false); // fail with continuous formulation
 }
 
 BOOST_AUTO_TEST_CASE(transition_Acc05){
@@ -356,7 +361,7 @@ BOOST_AUTO_TEST_CASE(transition_Acc05){
     pData.constraints_.maxAcceleration_=0.5;
     VectorX Ts(3);
     Ts<<0.6,0.6,0.6;
-    check_transition(pData,Ts);
+    check_transition(pData,Ts,false,false,false); // fail with continuous formulation
 }
 
 // constraints that should fails :
@@ -364,6 +369,7 @@ BOOST_AUTO_TEST_CASE(transition_Acc05){
 BOOST_AUTO_TEST_CASE(transition_Acc02){
     bezier_com_traj::ProblemData pData = gen_problem_data_flat();
     pData.constraints_.maxAcceleration_=0.2;
+    pData.constraints_.constraintAcceleration_=true;
     VectorX Ts(3);
     Ts<<0.6,0.6,0.6;
     check_transition(pData,Ts,true);
@@ -373,6 +379,7 @@ BOOST_AUTO_TEST_CASE(transition_noDc1_Acc05){
     bezier_com_traj::ProblemData pData = gen_problem_data_flat();
     pData.constraints_.flag_ ^= bezier_com_traj::END_VEL;
     pData.constraints_.maxAcceleration_=0.5;
+    pData.constraints_.constraintAcceleration_=true;
     VectorX Ts(3);
     Ts<<0.6,0.6,0.6;
     check_transition(pData,Ts,true);
@@ -382,7 +389,8 @@ BOOST_AUTO_TEST_CASE(transition_noDc1_Acc05){
 BOOST_AUTO_TEST_CASE(transition_ddc0_Acc1){
     bezier_com_traj::ProblemData pData = gen_problem_data_flat();
     pData.constraints_.flag_ |= bezier_com_traj::INIT_ACC;
-    pData.constraints_.maxAcceleration_=1.;
+    pData.constraints_.maxAcceleration_=1.;    
+    pData.constraints_.constraintAcceleration_=true;
     VectorX Ts(3);
     Ts<<0.6,0.6,0.6;
     check_transition(pData,Ts,true);
@@ -391,7 +399,8 @@ BOOST_AUTO_TEST_CASE(transition_ddc0_Acc1){
 BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1_Acc02){
     bezier_com_traj::ProblemData pData = gen_problem_data_flat();
     pData.constraints_.flag_ |= bezier_com_traj::INIT_ACC | bezier_com_traj::END_ACC ;
-    pData.constraints_.maxAcceleration_=0.2;
+    pData.constraints_.maxAcceleration_=0.2;    
+    pData.constraints_.constraintAcceleration_=true;
     VectorX Ts(3);
     Ts<<0.6,0.6,0.6;
     check_transition(pData,Ts,true);
-- 
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