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loco-3d
Multicontact-api
Commits
15327f5f
Commit
15327f5f
authored
Jul 24, 2020
by
Pierre Fernbach
Browse files
[Tests] add unit test to deserialize file with API version 1
parent
78474d15
Changes
2
Hide whitespace changes
Inline
Side-by-side
examples/previous_versions/api_1.cs
0 → 100644
View file @
15327f5f
File added
unittest/serialization_versionning.cpp
View file @
15327f5f
...
...
@@ -45,4 +45,22 @@ BOOST_AUTO_TEST_CASE(api_0) {
BOOST_CHECK
(
!
cs
.
haveContactModelDefined
());
}
BOOST_AUTO_TEST_CASE
(
api_1
)
{
ContactSequence
cs
;
cs
.
loadFromBinary
(
path
+
"previous_versions/api_1.cs"
);
BOOST_CHECK_EQUAL
(
cs
.
size
(),
9
);
BOOST_CHECK
(
cs
.
haveConsistentContacts
());
BOOST_CHECK
(
cs
.
haveTimings
());
BOOST_CHECK
(
cs
.
haveCentroidalValues
());
BOOST_CHECK
(
cs
.
haveCentroidalTrajectories
());
BOOST_CHECK
(
cs
.
haveEffectorsTrajectories
(
1e-1
));
BOOST_CHECK
(
cs
.
haveJointsTrajectories
());
BOOST_CHECK
(
cs
.
haveJointsDerivativesTrajectories
());
BOOST_CHECK
(
cs
.
haveContactForcesTrajectories
());
BOOST_CHECK
(
cs
.
haveZMPtrajectories
());
BOOST_CHECK
(
cs
.
haveFriction
());
BOOST_CHECK
(
cs
.
haveContactModelDefined
());
}
BOOST_AUTO_TEST_SUITE_END
()
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