Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
loco-3d
Multicontact-api
Commits
2b1417ca
Commit
2b1417ca
authored
Jul 23, 2020
by
Guilhem Saurel
Browse files
Format
parent
a5d18873
Changes
3
Hide whitespace changes
Inline
Side-by-side
unittest/examples.cpp
View file @
2b1417ca
...
...
@@ -73,7 +73,6 @@ BOOST_AUTO_TEST_CASE(step_in_place_COM) {
BOOST_CHECK
(
cs
.
haveCentroidalTrajectories
());
BOOST_CHECK
(
!
cs
.
haveFriction
());
BOOST_CHECK
(
!
cs
.
haveContactModelDefined
());
}
BOOST_AUTO_TEST_CASE
(
step_in_place_REF
)
{
...
...
@@ -88,7 +87,6 @@ BOOST_AUTO_TEST_CASE(step_in_place_REF) {
BOOST_CHECK
(
cs
.
haveEffectorsTrajectories
(
1e-6
,
false
));
BOOST_CHECK
(
cs
.
haveFriction
());
BOOST_CHECK
(
cs
.
haveContactModelDefined
());
}
BOOST_AUTO_TEST_CASE
(
step_in_place_WB
)
{
...
...
unittest/scenario.cpp
View file @
2b1417ca
...
...
@@ -387,7 +387,7 @@ BOOST_AUTO_TEST_CASE(contact_model_points_positions) {
BOOST_CHECK
(
mp
.
contact_points_positions
().
isApprox
(
positions
));
Matrix6X
generators
=
mp
.
generatorMatrix
();
BOOST_CHECK_EQUAL
(
generators
.
rows
(),
6
);
BOOST_CHECK_EQUAL
(
generators
.
cols
(),
6
*
3
);
BOOST_CHECK_EQUAL
(
generators
.
cols
(),
6
*
3
);
mp
.
num_contact_points
(
2
);
BOOST_CHECK_EQUAL
(
mp
.
num_contact_points
(),
2
);
...
...
@@ -1741,8 +1741,8 @@ BOOST_AUTO_TEST_CASE(contact_sequence_have_contact_model_defined) {
cs1
.
append
(
cp0
);
cs1
.
append
(
cp1
);
// cp.addContact("right_hand", ContactPatch(SE3::Identity().setRandom()));
// cp.addContact("left_foot", ContactPatch(SE3::Identity().setRandom()));
// cp.addContact("right_hand", ContactPatch(SE3::Identity().setRandom()));
// cp.addContact("left_foot", ContactPatch(SE3::Identity().setRandom()));
BOOST_CHECK
(
!
cs1
.
haveContactModelDefined
());
ContactModel
mp1
(
0.3
,
ContactType
::
CONTACT_PLANAR
);
Matrix3X
positions
=
Matrix3X
::
Random
(
3
,
4
);
...
...
@@ -1763,14 +1763,13 @@ BOOST_AUTO_TEST_CASE(contact_sequence_have_contact_model_defined) {
cs1
.
contactPhase
(
2
).
contactPatch
(
"left_foot"
).
m_contact_model
=
mp2
;
BOOST_CHECK
(
!
cs1
.
haveContactModelDefined
());
mp3
.
m_contact_type
=
ContactType
::
CONTACT_PLANAR
;
// no effect
mp3
.
m_contact_type
=
ContactType
::
CONTACT_PLANAR
;
// no effect
BOOST_CHECK
(
!
cs1
.
haveContactModelDefined
());
cs1
.
contactPhase
(
2
).
contactPatch
(
"right_hand"
).
m_contact_model
.
m_contact_type
=
ContactType
::
CONTACT_PLANAR
;
BOOST_CHECK
(
cs1
.
haveContactModelDefined
());
}
BOOST_AUTO_TEST_CASE
(
contact_sequence_concatenate_com_traj
)
{
ContactSequence
cs1
=
ContactSequence
(
0
);
ContactPhase
cp0
=
buildRandomContactPhase
(
0
,
2
);
...
...
unittest/serialization_versionning.cpp
View file @
2b1417ca
...
...
@@ -45,5 +45,4 @@ BOOST_AUTO_TEST_CASE(api_0) {
BOOST_CHECK
(
!
cs
.
haveContactModelDefined
());
}
BOOST_AUTO_TEST_SUITE_END
()
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment