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Humanoid Path Planner
hpp-pinocchio
Commits
d32ff0e1
Commit
d32ff0e1
authored
Jan 13, 2020
by
Joseph Mirabel
Browse files
[Minor] add failing unit-test (trouble in pinocchio).
parent
b7ca3759
Changes
2
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Inline
Side-by-side
src/device.cc
View file @
d32ff0e1
...
...
@@ -123,7 +123,6 @@ namespace hpp {
{
weakPtr_
=
weakPtr
;
d_
.
devicePtr_
=
weakPtr
;
DevicePtr_t
self
(
weakPtr_
.
lock
());
}
void
Device
::
initCopy
(
const
DeviceWkPtr_t
&
weakPtr
,
const
Device
&
other
)
...
...
tests/device.cc
View file @
d32ff0e1
...
...
@@ -18,7 +18,11 @@
#include
<boost/test/unit_test.hpp>
#include
<pinocchio/fwd.hpp>
#include
<hpp/pinocchio/fwd.hh>
#include
<hpp/pinocchio/joint-collection.hh>
#include
<pinocchio/multibody/model.hpp>
#include
<pinocchio/algorithm/check.hpp>
#include
<hpp/pinocchio/joint.hh>
#include
<hpp/pinocchio/device.hh>
...
...
@@ -64,6 +68,9 @@ BOOST_AUTO_TEST_CASE (unit_test_device)
DevicePtr_t
robot
;
LiegroupSpacePtr_t
space
;
robot
=
Device
::
create
(
"robot"
);
BOOST_CHECK
(
pinocchio
::
checkData
(
robot
->
model
(),
robot
->
data
()));
robot
=
unittest
::
makeDevice
(
unittest
::
HumanoidSimple
);
space
=
LiegroupSpace
::
createCopy
(
robot
->
configSpace
());
space
->
mergeVectorSpaces
();
...
...
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