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loco-3d
Multicontact-api
Commits
16bcdaff
Commit
16bcdaff
authored
Feb 12, 2020
by
Pierre Fernbach
Browse files
ContactSequence::haveEffectorsTrajectories output the placement when the test fail
parent
7988f958
Changes
1
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Inline
Side-by-side
include/multicontact-api/scenario/contact-sequence.hpp
View file @
16bcdaff
...
...
@@ -613,6 +613,8 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
if
(
!
pMax
.
isApprox
(
m_contact_phases
.
at
(
i
+
1
).
contactPatches
().
at
(
eeName
).
placement
(),
prec
)){
std
::
cout
<<
"Effector trajectory for "
<<
eeName
<<
" do not end at it's contact placement in the next phase, for phase "
<<
i
<<
std
::
endl
;
std
::
cout
<<
"Last point : "
<<
std
::
endl
<<
pMax
<<
std
::
endl
<<
"Next contact : "
<<
std
::
endl
<<
m_contact_phases
.
at
(
i
+
1
).
contactPatches
().
at
(
eeName
).
placement
()
<<
std
::
endl
;
return
false
;
}
if
(
i
>
0
&&
m_contact_phases
.
at
(
i
-
1
).
isEffectorInContact
(
eeName
)){
...
...
@@ -620,6 +622,8 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
if
(
!
pMin
.
isApprox
(
m_contact_phases
.
at
(
i
-
1
).
contactPatches
().
at
(
eeName
).
placement
(),
prec
)){
std
::
cout
<<
"Effector trajectory for "
<<
eeName
<<
" do not start at it's contact placement in the previous phase, for phase "
<<
i
<<
std
::
endl
;
std
::
cout
<<
"First point : "
<<
std
::
endl
<<
pMin
<<
std
::
endl
<<
"Previous contact : "
<<
std
::
endl
<<
m_contact_phases
.
at
(
i
-
1
).
contactPatches
().
at
(
eeName
).
placement
()
<<
std
::
endl
;
return
false
;
}
}
...
...
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