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loco-3d
Multicontact-api
Commits
306aece9
Commit
306aece9
authored
Mar 19, 2020
by
Pierre Fernbach
Browse files
clean test/scenario.cpp
parent
992d028e
Changes
1
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unittest/scenario.cpp
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306aece9
// Copyright (c) 201
5
-20
18
, CNRS
// Authors:
Justin Carpentier <jcarpent
@laas.fr>
// Copyright (c) 201
9
-20
20
, CNRS
// Authors:
Pierre Fernbach <pierre.fernbach
@laas.fr>
,
#include
<iostream>
...
...
@@ -34,20 +34,7 @@ using curves::t_pointX_t;
using
namespace
multicontact_api
::
scenario
;
typedef
ContactSequence
::
ContactPhaseVector
ContactPhaseVector
;
template
<
typename
Scalar
>
struct
ATpl
{
typedef
pinocchio
::
SE3Tpl
<
Scalar
>
SE3
;
explicit
ATpl
()
:
data
()
{}
explicit
ATpl
(
const
ATpl
&
other
)
:
data
(
other
.
data
){};
bool
operator
==
(
const
ATpl
&
other
)
{
return
data
==
other
.
data
;
}
protected:
SE3
data
;
};
typedef
ATpl
<
double
>
Ad
;
typedef
pinocchio
::
SE3Tpl
<
double
>
SE3
;
curve_ptr_t
buildPiecewisePolynomialC2
()
{
...
...
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