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) { ...@@ -73,7 +73,6 @@ BOOST_AUTO_TEST_CASE(step_in_place_COM) {
BOOST_CHECK(cs.haveCentroidalTrajectories()); BOOST_CHECK(cs.haveCentroidalTrajectories());
BOOST_CHECK(!cs.haveFriction()); BOOST_CHECK(!cs.haveFriction());
BOOST_CHECK(!cs.haveContactModelDefined()); BOOST_CHECK(!cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(step_in_place_REF) { BOOST_AUTO_TEST_CASE(step_in_place_REF) {
...@@ -88,7 +87,6 @@ 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.haveEffectorsTrajectories(1e-6, false));
BOOST_CHECK(cs.haveFriction()); BOOST_CHECK(cs.haveFriction());
BOOST_CHECK(cs.haveContactModelDefined()); BOOST_CHECK(cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(step_in_place_WB) { BOOST_AUTO_TEST_CASE(step_in_place_WB) {
......
...@@ -387,7 +387,7 @@ BOOST_AUTO_TEST_CASE(contact_model_points_positions) { ...@@ -387,7 +387,7 @@ BOOST_AUTO_TEST_CASE(contact_model_points_positions) {
BOOST_CHECK(mp.contact_points_positions().isApprox(positions)); BOOST_CHECK(mp.contact_points_positions().isApprox(positions));
Matrix6X generators = mp.generatorMatrix(); Matrix6X generators = mp.generatorMatrix();
BOOST_CHECK_EQUAL(generators.rows(), 6); 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); mp.num_contact_points(2);
BOOST_CHECK_EQUAL(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) { ...@@ -1741,8 +1741,8 @@ BOOST_AUTO_TEST_CASE(contact_sequence_have_contact_model_defined) {
cs1.append(cp0); cs1.append(cp0);
cs1.append(cp1); cs1.append(cp1);
// cp.addContact("right_hand", ContactPatch(SE3::Identity().setRandom())); // cp.addContact("right_hand", ContactPatch(SE3::Identity().setRandom()));
// cp.addContact("left_foot", ContactPatch(SE3::Identity().setRandom())); // cp.addContact("left_foot", ContactPatch(SE3::Identity().setRandom()));
BOOST_CHECK(!cs1.haveContactModelDefined()); BOOST_CHECK(!cs1.haveContactModelDefined());
ContactModel mp1(0.3, ContactType::CONTACT_PLANAR); ContactModel mp1(0.3, ContactType::CONTACT_PLANAR);
Matrix3X positions = Matrix3X::Random(3, 4); Matrix3X positions = Matrix3X::Random(3, 4);
...@@ -1770,7 +1770,6 @@ BOOST_AUTO_TEST_CASE(contact_sequence_have_contact_model_defined) { ...@@ -1770,7 +1770,6 @@ BOOST_AUTO_TEST_CASE(contact_sequence_have_contact_model_defined) {
BOOST_CHECK(cs1.haveContactModelDefined()); BOOST_CHECK(cs1.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(contact_sequence_concatenate_com_traj) { BOOST_AUTO_TEST_CASE(contact_sequence_concatenate_com_traj) {
ContactSequence cs1 = ContactSequence(0); ContactSequence cs1 = ContactSequence(0);
ContactPhase cp0 = buildRandomContactPhase(0, 2); ContactPhase cp0 = buildRandomContactPhase(0, 2);
......
...@@ -45,5 +45,4 @@ BOOST_AUTO_TEST_CASE(api_0) { ...@@ -45,5 +45,4 @@ BOOST_AUTO_TEST_CASE(api_0) {
BOOST_CHECK(!cs.haveContactModelDefined()); BOOST_CHECK(!cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_SUITE_END() BOOST_AUTO_TEST_SUITE_END()
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