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Humanoid Path Planner
hpp-centroidal-dynamics
Commits
2c0f317a
Commit
2c0f317a
authored
6 years ago
by
t steve
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retro compatibility with old numpy api
parent
d6d7d100
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python/test/binding_tests.py
+2
-2
2 additions, 2 deletions
python/test/binding_tests.py
with
2 additions
and
2 deletions
python/test/binding_tests.py
+
2
−
2
View file @
2c0f317a
...
...
@@ -28,7 +28,7 @@ N = asmatrix(array([z for _ in range(4)]))
#setting contact positions and normals, as well as friction coefficients
eq
.
setNewContacts
(
asmatrix
(
P
),
asmatrix
(
N
),
0.3
,
EquilibriumAlgorithm
.
EQUILIBRIUM_ALGORITHM_LP
)
c
=
asmatrix
(
array
([
0.
,
0.
,
1.
]))
c
=
asmatrix
(
array
([
0.
,
0.
,
1.
]))
.
T
#computing robustness of a given configuration, first with no argument (0 acceleration, static equilibrium)
status
,
robustness
=
eq
.
computeEquilibriumRobustness
(
c
)
...
...
@@ -36,7 +36,7 @@ assert (status == LP_STATUS_OPTIMAL), "LP should not fail"
assert
(
robustness
>
0
),
"
first test should be in equilibrirum
"
#computing robustness of a given configuration with non zero acceleration
ddc
=
asmatrix
(
array
([
1000.
,
0.
,
0.
]))
ddc
=
asmatrix
(
array
([
1000.
,
0.
,
0.
]))
.
T
status
,
robustness
=
eq
.
computeEquilibriumRobustness
(
c
,
ddc
)
assert
(
status
==
LP_STATUS_OPTIMAL
),
"
LP should not fail
"
assert
(
robustness
<
0
),
"
first test should NOT be in equilibrirum
"
...
...
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