Commit cc23da69 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

[Minor][C++] Fix compilation issues

parent fc7e1670
......@@ -18,7 +18,7 @@
#ifndef __math_quaternion_hpp__
#define __math_quaternion_hpp__
#include <boost/math/constants/constants.hpp>
#include <pinocchio/math/fwd.hpp>
namespace se3
{
......
......@@ -20,6 +20,7 @@
#define __se3_joint_base_hpp__
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/multibody/joint/fwd.hpp"
#include <Eigen/Core>
#include <limits>
......
......@@ -16,7 +16,6 @@
#include "pinocchio/multibody/liegroup/liegroup.hpp"
#include "pinocchio/multibody/joint/joint-composite.hpp"
#include "pinocchio/multibody/joint/joint.hpp"
#include <boost/test/unit_test.hpp>
......@@ -74,21 +73,6 @@ struct TestJoint{
test_lie_group_methods(jmodel, jdata);
}
void operator()(const se3::JointModelComposite & ) const
{
// se3::JointModelComposite jmodel(2);
// jmodel.addJointModel(se3::JointModelRX());
// jmodel.addJointModel(se3::JointModelRY());
se3::JointModelComposite jmodel((se3::JointModelRX()));
jmodel.addJoint(se3::JointModelRY());
jmodel.setIndexes(0,0,0);
se3::JointModelComposite::JointDataDerived jdata = jmodel.createData();
test_lie_group_methods(jmodel, jdata);
}
void operator()(const se3::JointModelRevoluteUnaligned & ) const
{
se3::JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
......
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