Commit 2b1417ca authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Format

parent a5d18873
......@@ -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) {
......
......@@ -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);
......
......@@ -45,5 +45,4 @@ BOOST_AUTO_TEST_CASE(api_0) {
BOOST_CHECK(!cs.haveContactModelDefined());
}
BOOST_AUTO_TEST_SUITE_END()
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