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loco-3d
Multicontact-api
Commits
6bf963a2
Commit
6bf963a2
authored
May 11, 2020
by
Pierre Fernbach
Browse files
Revert "[tests] update example test with the changes of trajectory used"
This reverts commit
2aa939b1
.
parent
29acc071
Changes
1
Hide whitespace changes
Inline
Side-by-side
unittest/examples.cpp
View file @
6bf963a2
...
...
@@ -143,14 +143,14 @@ BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_WB) {
BOOST_AUTO_TEST_CASE
(
walk_20cm
)
{
ContactSequence
cs
;
cs
.
loadFromBinary
(
path
+
"walk_20cm.cs"
);
BOOST_CHECK_EQUAL
(
cs
.
size
(),
15
);
BOOST_CHECK_EQUAL
(
cs
.
size
(),
23
);
BOOST_CHECK
(
cs
.
haveConsistentContacts
());
}
BOOST_AUTO_TEST_CASE
(
walk_20cm_COM
)
{
ContactSequence
cs
;
cs
.
loadFromBinary
(
path
+
"walk_20cm_COM.cs"
);
BOOST_CHECK_EQUAL
(
cs
.
size
(),
15
);
BOOST_CHECK_EQUAL
(
cs
.
size
(),
23
);
BOOST_CHECK
(
cs
.
haveConsistentContacts
());
BOOST_CHECK
(
cs
.
haveTimings
());
BOOST_CHECK
(
cs
.
haveCentroidalValues
());
...
...
@@ -160,18 +160,18 @@ BOOST_AUTO_TEST_CASE(walk_20cm_COM) {
BOOST_AUTO_TEST_CASE
(
walk_20cm_REF
)
{
ContactSequence
cs
;
cs
.
loadFromBinary
(
path
+
"walk_20cm_REF.cs"
);
BOOST_CHECK_EQUAL
(
cs
.
size
(),
15
);
BOOST_CHECK_EQUAL
(
cs
.
size
(),
23
);
BOOST_CHECK
(
cs
.
haveConsistentContacts
());
BOOST_CHECK
(
cs
.
haveTimings
());
BOOST_CHECK
(
cs
.
haveCentroidalValues
());
BOOST_CHECK
(
cs
.
haveCentroidalTrajectories
());
BOOST_CHECK
(
cs
.
haveEffectorsTrajectories
(
1e-2
));
BOOST_CHECK
(
cs
.
haveEffectorsTrajectories
());
}
BOOST_AUTO_TEST_CASE
(
walk_20cm_WB
)
{
ContactSequence
cs
;
cs
.
loadFromBinary
(
path
+
"walk_20cm_WB.cs"
);
BOOST_CHECK_EQUAL
(
cs
.
size
(),
15
);
BOOST_CHECK_EQUAL
(
cs
.
size
(),
23
);
BOOST_CHECK
(
cs
.
haveConsistentContacts
());
BOOST_CHECK
(
cs
.
haveTimings
());
BOOST_CHECK
(
cs
.
haveCentroidalValues
());
...
...
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