Revert "Change output of test results"

This reverts commit 2bf22e71.

tests/TestHerdt2010.cpp

@@ -46,20 +46,20 @@ public:
   {
     m_TestProfile = TestProfile;
   };
-
+  
 protected:
 
+  
 
-
-
+  
   void startOnLineWalking(PatternGeneratorInterface &aPGI)
   {
     CommonInitialization(aPGI);
-
+    
     {
       istringstream strm2(":SetAlgoForZmpTrajectory Herdt");
       aPGI.ParseCmd(strm2);
-
+      
     }
     {
       istringstream strm2(":singlesupporttime 0.7");
@@ -85,7 +85,7 @@ protected:
 
   void chooseTestProfile()
   {
-
+    
     switch(m_TestProfile)
       {
 
@@ -97,7 +97,7 @@ protected:
 	break;
       }
   }
-
+  
   void generateEvent()
   {
     unsigned int StoppingTime = 11*200;
@@ -112,11 +112,10 @@ protected:
 int PerformTests(int argc, char *argv[])
 {
 
-  const unsigned int NbTests = 1;
-  std::string TestNames[NbTests] = { "TestHerdt2010OnLine" };
-  int TestProfiles[NbTests] = { PROFIL_HERDT_ONLINE_WALKING };
+  std::string TestNames[1] = { "TestHerdt2010OnLine"};
+  int TestProfiles[1] = { PROFIL_HERDT_ONLINE_WALKING};
 
-  for (unsigned int i=0;i<NbTests;i++)
+  for (unsigned int i=0;i<1;i++)
     {
       TestHerdt2010 aTH2010(argc,argv,
 			    TestNames[i],
@@ -125,11 +124,11 @@ int PerformTests(int argc, char *argv[])
 	{
 	  if (!aTH2010.doTest(std::cout))
 	    {
-	      cout << "Test nb. " << i+1 <<" (of " << NbTests <<" test(s)) failed!!!"<< endl;
+	      cout << "Failed test " << i << endl;
 	      return -1;
 	    }
 	  else
-	    cout << "Test nb. " << i+1 <<" (of " << NbTests <<" test(s)) passed."<< endl;
+	    cout << "Passed test " << i << endl;
 	}
       catch (const char * astr)
 	{ cerr << "Failed on following error " << astr << std::endl;

tests/TestObject.cpp

@@ -46,8 +46,8 @@ namespace PatternGeneratorJRL
     double filterprecision(double adb)
     {
       if (fabs(adb)<1e-7)
-        return 0.0;
-
+	return 0.0;
+	    
       double ladb2 = adb * 1e7;
       double lintadb2 = trunc(ladb2);
       return lintadb2/1e7;
@@ -55,8 +55,8 @@ namespace PatternGeneratorJRL
 
 
     TestObject::TestObject(int argc, char *argv[],
-        string &aTestName,
-        int lPGIInterface)
+			   string &aTestName,
+			   int lPGIInterface)
     {
       m_TestName = aTestName;
       m_PGIInterface = lPGIInterface;
@@ -81,28 +81,28 @@ namespace PatternGeneratorJRL
 
       /*! Extract options and fill in members. */
       getOptions(argc,argv,
-          VRMLPath,
-          VRMLFileName,
-          SpecificitiesFileName,
-          LinkJointRank,
-          InitConfig,
-          m_TestProfile);
+		 VRMLPath,
+		 VRMLFileName,
+		 SpecificitiesFileName,
+		 LinkJointRank,
+		 InitConfig,
+		 m_TestProfile);
 
       // Instanciate and initialize.
       string RobotFileName = VRMLPath + VRMLFileName;
 
       bool fileExist = false;
       {
-        std::ifstream file (RobotFileName.c_str ());
-        fileExist = !file.fail ();
+	std::ifstream file (RobotFileName.c_str ());
+	fileExist = !file.fail ();
       }
       if (!fileExist)
-        throw std::string ("failed to open robot model");
+	throw std::string ("failed to open robot model");
 
       CreateAndInitializeHumanoidRobot(RobotFileName,
-          SpecificitiesFileName,
-          LinkJointRank,
-          InitConfig,
+				       SpecificitiesFileName,
+				       LinkJointRank,
+				       InitConfig,
 				       m_HDR, m_DebugHDR, m_PGI);
 
       // Specify the walking mode: here the default one.
@@ -123,13 +123,13 @@ namespace PatternGeneratorJRL
     {
 
       if (m_HDR!=0)
-        delete m_HDR;
+	delete m_HDR;
 
       if (m_DebugHDR!=0)
-        delete m_DebugHDR;
+	delete m_DebugHDR;
 
       if (m_PGI!=0)
-        delete m_PGI;
+	delete m_PGI;
 
     }
 
@@ -137,23 +137,23 @@ namespace PatternGeneratorJRL
     {
 
       if (m_DebugZMP2)
-        {
+	{
 	  ofstream aofzmpmb2;
 	  string aFileName = m_TestName;
 	  aFileName += "ZMPMBSTAGE2.dat";
 	  aofzmpmb2.open(aFileName.c_str(),ofstream::out);
-        }
+	}
 
 
       if (m_DebugFGPI)
-        {
+	{
 	  ofstream aof;
 	  string aFileName = m_TestName;
 	  aFileName += "TestFGPI_description.dat";
 
 	  aof.open(aFileName.c_str(),ofstream::out);
 	  string Titles[26] =
-            { "Time",
+	    { "Time",
 	      "Com X",
 	      "Com Y" ,
 	      "Com Z" ,
@@ -188,13 +188,13 @@ namespace PatternGeneratorJRL
 	  aFileName += "TestFGPI.dat";
 	  aof.open(aFileName.c_str(),ofstream::out);
 	  aof.close();
-        }
+	}
     }
 
     void TestObject::fillInDebugFiles( )
     {
       if (m_DebugFGPI)
-        {
+	{
 	  ofstream aof;
 	  string aFileName;
 	  aFileName = m_TestName;
@@ -225,16 +225,16 @@ namespace PatternGeneratorJRL
 	      << filterprecision(m_OneStep.RightFootPosition.omega  ) << " "
 	      << filterprecision(m_OneStep.RightFootPosition.omega2  ) << " "
 	      << filterprecision(m_OneStep.ZMPTarget(0)*cos(m_CurrentConfiguration(5)) -
-				 m_OneStep.ZMPTarget(1)*sin(m_CurrentConfiguration(5))
-				 +m_CurrentConfiguration(0) ) << " "
+	    m_OneStep.ZMPTarget(1)*sin(m_CurrentConfiguration(5))
+	    +m_CurrentConfiguration(0) ) << " "
 	      << filterprecision(m_OneStep.ZMPTarget(0)*sin(m_CurrentConfiguration(5)) +
-				 m_OneStep.ZMPTarget(1)*cos(m_CurrentConfiguration(5))
-				 +m_CurrentConfiguration(1) ) << " "
+	    m_OneStep.ZMPTarget(1)*cos(m_CurrentConfiguration(5))
+	    +m_CurrentConfiguration(1) ) << " "
 	      << filterprecision(m_CurrentConfiguration(0) ) << " "
 	      << filterprecision(m_CurrentConfiguration(1) ) << " "
 	      << endl;
 	  aof.close();
-        }
+	}
     }
 
 
@@ -242,7 +242,7 @@ namespace PatternGeneratorJRL
     {
       bool SameFile= false;
       if (m_DebugFGPI)
-        {
+	{
 	  SameFile = true;
 	  ifstream alif;
 	  string aFileName;
@@ -270,18 +270,14 @@ namespace PatternGeneratorJRL
 	      for (unsigned int i=0;i<70;i++)
 		{
 		  if  (fabs(LocalInput[i]-
-			    ReferenceInput[i])>=1e-5)
-		    {
-		      cout<<"... failed with: "<< "LocalInput["<<i<<"]: "<<LocalInput[i]<<
-			" ReferenceInput["<<i<<"]: "<<ReferenceInput[i]<<endl;
-		      return false;
-		    }
+			    ReferenceInput[i])>=1e-6)
+		    return false;
 		}
 	    }
 
 	  alif.close();
 	  arif.close();
-        }
+	}
       return SameFile;
     }
 
@@ -295,9 +291,9 @@ namespace PatternGeneratorJRL
       prepareDebugFiles();
 
       for (unsigned int lNbIt=0;lNbIt<m_OuterLoopNbItMax;lNbIt++)
-        {
+	{
 	  os << "<===============================================================>"<<endl;
-	  os << "Test iteration nb: " << lNbIt+1 << endl;
+	  os << "Iteration nb: " << lNbIt << endl;
 
 	  m_clock.startPlanning();
 
@@ -360,9 +356,9 @@ namespace PatternGeneratorJRL
 
 	    }
 
-	  os << endl << "End of test iteration " << lNbIt+1 << endl;
+	  os << endl << "End of iteration " << lNbIt << endl;
 	  os << "<===============================================================>"<<endl;
-        }
+	}
 
       string lProfileOutput= m_TestName;
       lProfileOutput +="TimeProfile.dat";