Commit 96155a7d authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Minor changes

parent dcf6e5af
......@@ -113,6 +113,14 @@ namespace hpp {
k = model.frames[i].previousFrame;
while (model.frames[k].type != se3::JOINT) {
if (k == frameIndex_ || k == 0) break;
// if (visited[k]) {
// std::vector<FrameIndex>::iterator _k =
// std::find(children_.begin(), children_.end(), k);
// if (_k != children_.end())
// children_.erase(_k);
// k = frameIndex_;
// break;
// }
visited[k] = true;
k = model.frames[k].previousFrame;
}
......
......@@ -111,7 +111,7 @@ Robots_t createRobots()
const size_type NB_CONF = 4;
const size_type NB_SUCCESSIVE_INTERPOLATION = 1000;
const value_type eps = 1e-12;
const value_type eps = sqrt(Eigen::NumTraits<value_type>::dummy_precision());
BOOST_AUTO_TEST_CASE(is_valid_configuration)
{
......@@ -130,8 +130,8 @@ BOOST_AUTO_TEST_CASE(is_valid_configuration)
q = robot->neutralConfiguration();
BOOST_CHECK(isNormalized(robot, q, eps));
/// Set a quaternion of norm != 1
q[2] = 1; q[3] = 1;
/// Set a complex of norm != 1
q.segment<2>(2) << 1, 1;
BOOST_CHECK(!isNormalized(robot, q, eps));
robot = unittest::makeDevice(unittest::CarLike);
......
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