Commit 2aa939b1 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[tests] update example test with the changes of trajectory used

parent aefc1703
...@@ -143,14 +143,14 @@ BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_WB) { ...@@ -143,14 +143,14 @@ BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_WB) {
BOOST_AUTO_TEST_CASE(walk_20cm) { BOOST_AUTO_TEST_CASE(walk_20cm) {
ContactSequence cs; ContactSequence cs;
cs.loadFromBinary(path + "walk_20cm.cs"); cs.loadFromBinary(path + "walk_20cm.cs");
BOOST_CHECK_EQUAL(cs.size(), 23); BOOST_CHECK_EQUAL(cs.size(), 15);
BOOST_CHECK(cs.haveConsistentContacts()); BOOST_CHECK(cs.haveConsistentContacts());
} }
BOOST_AUTO_TEST_CASE(walk_20cm_COM) { BOOST_AUTO_TEST_CASE(walk_20cm_COM) {
ContactSequence cs; ContactSequence cs;
cs.loadFromBinary(path + "walk_20cm_COM.cs"); cs.loadFromBinary(path + "walk_20cm_COM.cs");
BOOST_CHECK_EQUAL(cs.size(), 23); BOOST_CHECK_EQUAL(cs.size(), 15);
BOOST_CHECK(cs.haveConsistentContacts()); BOOST_CHECK(cs.haveConsistentContacts());
BOOST_CHECK(cs.haveTimings()); BOOST_CHECK(cs.haveTimings());
BOOST_CHECK(cs.haveCentroidalValues()); BOOST_CHECK(cs.haveCentroidalValues());
...@@ -160,18 +160,18 @@ BOOST_AUTO_TEST_CASE(walk_20cm_COM) { ...@@ -160,18 +160,18 @@ BOOST_AUTO_TEST_CASE(walk_20cm_COM) {
BOOST_AUTO_TEST_CASE(walk_20cm_REF) { BOOST_AUTO_TEST_CASE(walk_20cm_REF) {
ContactSequence cs; ContactSequence cs;
cs.loadFromBinary(path + "walk_20cm_REF.cs"); cs.loadFromBinary(path + "walk_20cm_REF.cs");
BOOST_CHECK_EQUAL(cs.size(), 23); BOOST_CHECK_EQUAL(cs.size(), 15);
BOOST_CHECK(cs.haveConsistentContacts()); BOOST_CHECK(cs.haveConsistentContacts());
BOOST_CHECK(cs.haveTimings()); BOOST_CHECK(cs.haveTimings());
BOOST_CHECK(cs.haveCentroidalValues()); BOOST_CHECK(cs.haveCentroidalValues());
BOOST_CHECK(cs.haveCentroidalTrajectories()); BOOST_CHECK(cs.haveCentroidalTrajectories());
BOOST_CHECK(cs.haveEffectorsTrajectories()); BOOST_CHECK(cs.haveEffectorsTrajectories(1e-2));
} }
BOOST_AUTO_TEST_CASE(walk_20cm_WB) { BOOST_AUTO_TEST_CASE(walk_20cm_WB) {
ContactSequence cs; ContactSequence cs;
cs.loadFromBinary(path + "walk_20cm_WB.cs"); cs.loadFromBinary(path + "walk_20cm_WB.cs");
BOOST_CHECK_EQUAL(cs.size(), 23); BOOST_CHECK_EQUAL(cs.size(), 15);
BOOST_CHECK(cs.haveConsistentContacts()); BOOST_CHECK(cs.haveConsistentContacts());
BOOST_CHECK(cs.haveTimings()); BOOST_CHECK(cs.haveTimings());
BOOST_CHECK(cs.haveCentroidalValues()); BOOST_CHECK(cs.haveCentroidalValues());
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment