Commit 8a8a4eca authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[Tests] add more tests cases for the de serialization of examples

parent d6e897ac
...@@ -59,6 +59,8 @@ BOOST_AUTO_TEST_CASE(step_in_place) { ...@@ -59,6 +59,8 @@ BOOST_AUTO_TEST_CASE(step_in_place) {
cs.loadFromBinary(path + "step_in_place.cs"); cs.loadFromBinary(path + "step_in_place.cs");
BOOST_CHECK_EQUAL(cs.size(), 9); BOOST_CHECK_EQUAL(cs.size(), 9);
BOOST_CHECK(cs.haveConsistentContacts()); BOOST_CHECK(cs.haveConsistentContacts());
BOOST_CHECK(!cs.haveFriction());
BOOST_CHECK(!cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(step_in_place_COM) { BOOST_AUTO_TEST_CASE(step_in_place_COM) {
...@@ -69,6 +71,9 @@ BOOST_AUTO_TEST_CASE(step_in_place_COM) { ...@@ -69,6 +71,9 @@ BOOST_AUTO_TEST_CASE(step_in_place_COM) {
BOOST_CHECK(cs.haveTimings()); BOOST_CHECK(cs.haveTimings());
BOOST_CHECK(cs.haveCentroidalValues()); BOOST_CHECK(cs.haveCentroidalValues());
BOOST_CHECK(cs.haveCentroidalTrajectories()); BOOST_CHECK(cs.haveCentroidalTrajectories());
BOOST_CHECK(!cs.haveFriction());
BOOST_CHECK(!cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(step_in_place_REF) { BOOST_AUTO_TEST_CASE(step_in_place_REF) {
...@@ -81,6 +86,9 @@ BOOST_AUTO_TEST_CASE(step_in_place_REF) { ...@@ -81,6 +86,9 @@ BOOST_AUTO_TEST_CASE(step_in_place_REF) {
BOOST_CHECK(cs.haveCentroidalTrajectories()); BOOST_CHECK(cs.haveCentroidalTrajectories());
BOOST_CHECK(cs.haveEffectorsTrajectories()); BOOST_CHECK(cs.haveEffectorsTrajectories());
BOOST_CHECK(cs.haveEffectorsTrajectories(1e-6, false)); BOOST_CHECK(cs.haveEffectorsTrajectories(1e-6, false));
BOOST_CHECK(cs.haveFriction());
BOOST_CHECK(cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(step_in_place_WB) { BOOST_AUTO_TEST_CASE(step_in_place_WB) {
...@@ -96,6 +104,8 @@ BOOST_AUTO_TEST_CASE(step_in_place_WB) { ...@@ -96,6 +104,8 @@ BOOST_AUTO_TEST_CASE(step_in_place_WB) {
BOOST_CHECK(cs.haveJointsDerivativesTrajectories()); BOOST_CHECK(cs.haveJointsDerivativesTrajectories());
BOOST_CHECK(cs.haveContactForcesTrajectories()); BOOST_CHECK(cs.haveContactForcesTrajectories());
BOOST_CHECK(cs.haveZMPtrajectories()); BOOST_CHECK(cs.haveZMPtrajectories());
BOOST_CHECK(cs.haveFriction());
BOOST_CHECK(cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(step_in_place_quasistatic) { BOOST_AUTO_TEST_CASE(step_in_place_quasistatic) {
...@@ -103,6 +113,8 @@ BOOST_AUTO_TEST_CASE(step_in_place_quasistatic) { ...@@ -103,6 +113,8 @@ BOOST_AUTO_TEST_CASE(step_in_place_quasistatic) {
cs.loadFromBinary(path + "step_in_place_quasistatic.cs"); cs.loadFromBinary(path + "step_in_place_quasistatic.cs");
BOOST_CHECK_EQUAL(cs.size(), 9); BOOST_CHECK_EQUAL(cs.size(), 9);
BOOST_CHECK(cs.haveConsistentContacts()); BOOST_CHECK(cs.haveConsistentContacts());
BOOST_CHECK(!cs.haveFriction());
BOOST_CHECK(!cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_COM) { BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_COM) {
...@@ -113,6 +125,8 @@ BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_COM) { ...@@ -113,6 +125,8 @@ BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_COM) {
BOOST_CHECK(cs.haveTimings()); BOOST_CHECK(cs.haveTimings());
BOOST_CHECK(cs.haveCentroidalValues()); BOOST_CHECK(cs.haveCentroidalValues());
BOOST_CHECK(cs.haveCentroidalTrajectories()); BOOST_CHECK(cs.haveCentroidalTrajectories());
BOOST_CHECK(!cs.haveFriction());
BOOST_CHECK(!cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_REF) { BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_REF) {
...@@ -124,6 +138,8 @@ BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_REF) { ...@@ -124,6 +138,8 @@ BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_REF) {
BOOST_CHECK(cs.haveCentroidalValues()); BOOST_CHECK(cs.haveCentroidalValues());
BOOST_CHECK(cs.haveCentroidalTrajectories()); BOOST_CHECK(cs.haveCentroidalTrajectories());
BOOST_CHECK(cs.haveEffectorsTrajectories()); BOOST_CHECK(cs.haveEffectorsTrajectories());
BOOST_CHECK(cs.haveFriction());
BOOST_CHECK(cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_WB) { BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_WB) {
...@@ -139,6 +155,8 @@ BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_WB) { ...@@ -139,6 +155,8 @@ BOOST_AUTO_TEST_CASE(step_in_place_quasistatic_WB) {
BOOST_CHECK(cs.haveJointsDerivativesTrajectories()); BOOST_CHECK(cs.haveJointsDerivativesTrajectories());
BOOST_CHECK(cs.haveContactForcesTrajectories()); BOOST_CHECK(cs.haveContactForcesTrajectories());
BOOST_CHECK(cs.haveZMPtrajectories()); BOOST_CHECK(cs.haveZMPtrajectories());
BOOST_CHECK(cs.haveFriction());
BOOST_CHECK(cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(walk_20cm) { BOOST_AUTO_TEST_CASE(walk_20cm) {
...@@ -146,6 +164,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm) { ...@@ -146,6 +164,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm) {
cs.loadFromBinary(path + "walk_20cm.cs"); cs.loadFromBinary(path + "walk_20cm.cs");
BOOST_CHECK_EQUAL(cs.size(), 23); BOOST_CHECK_EQUAL(cs.size(), 23);
BOOST_CHECK(cs.haveConsistentContacts()); BOOST_CHECK(cs.haveConsistentContacts());
BOOST_CHECK(!cs.haveFriction());
BOOST_CHECK(!cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(walk_20cm_COM) { BOOST_AUTO_TEST_CASE(walk_20cm_COM) {
...@@ -156,6 +176,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_COM) { ...@@ -156,6 +176,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_COM) {
BOOST_CHECK(cs.haveTimings()); BOOST_CHECK(cs.haveTimings());
BOOST_CHECK(cs.haveCentroidalValues()); BOOST_CHECK(cs.haveCentroidalValues());
BOOST_CHECK(cs.haveCentroidalTrajectories()); BOOST_CHECK(cs.haveCentroidalTrajectories());
BOOST_CHECK(!cs.haveFriction());
BOOST_CHECK(!cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(walk_20cm_REF) { BOOST_AUTO_TEST_CASE(walk_20cm_REF) {
...@@ -167,6 +189,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_REF) { ...@@ -167,6 +189,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_REF) {
BOOST_CHECK(cs.haveCentroidalValues()); BOOST_CHECK(cs.haveCentroidalValues());
BOOST_CHECK(cs.haveCentroidalTrajectories()); BOOST_CHECK(cs.haveCentroidalTrajectories());
BOOST_CHECK(cs.haveEffectorsTrajectories()); BOOST_CHECK(cs.haveEffectorsTrajectories());
BOOST_CHECK(cs.haveFriction());
BOOST_CHECK(cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(walk_20cm_WB) { BOOST_AUTO_TEST_CASE(walk_20cm_WB) {
...@@ -182,6 +206,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_WB) { ...@@ -182,6 +206,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_WB) {
BOOST_CHECK(cs.haveJointsDerivativesTrajectories()); BOOST_CHECK(cs.haveJointsDerivativesTrajectories());
BOOST_CHECK(cs.haveContactForcesTrajectories()); BOOST_CHECK(cs.haveContactForcesTrajectories());
BOOST_CHECK(cs.haveZMPtrajectories()); BOOST_CHECK(cs.haveZMPtrajectories());
BOOST_CHECK(cs.haveFriction());
BOOST_CHECK(cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic) { BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic) {
...@@ -189,6 +215,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic) { ...@@ -189,6 +215,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic) {
cs.loadFromBinary(path + "walk_20cm_quasistatic.cs"); cs.loadFromBinary(path + "walk_20cm_quasistatic.cs");
BOOST_CHECK_EQUAL(cs.size(), 23); BOOST_CHECK_EQUAL(cs.size(), 23);
BOOST_CHECK(cs.haveConsistentContacts()); BOOST_CHECK(cs.haveConsistentContacts());
BOOST_CHECK(!cs.haveFriction());
BOOST_CHECK(!cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic_COM) { BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic_COM) {
...@@ -199,6 +227,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic_COM) { ...@@ -199,6 +227,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic_COM) {
BOOST_CHECK(cs.haveTimings()); BOOST_CHECK(cs.haveTimings());
BOOST_CHECK(cs.haveCentroidalValues()); BOOST_CHECK(cs.haveCentroidalValues());
BOOST_CHECK(cs.haveCentroidalTrajectories()); BOOST_CHECK(cs.haveCentroidalTrajectories());
BOOST_CHECK(!cs.haveFriction());
BOOST_CHECK(!cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic_REF) { BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic_REF) {
...@@ -210,6 +240,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic_REF) { ...@@ -210,6 +240,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic_REF) {
BOOST_CHECK(cs.haveCentroidalValues()); BOOST_CHECK(cs.haveCentroidalValues());
BOOST_CHECK(cs.haveCentroidalTrajectories()); BOOST_CHECK(cs.haveCentroidalTrajectories());
BOOST_CHECK(cs.haveEffectorsTrajectories()); BOOST_CHECK(cs.haveEffectorsTrajectories());
BOOST_CHECK(cs.haveFriction());
BOOST_CHECK(cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic_WB) { BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic_WB) {
...@@ -225,6 +257,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic_WB) { ...@@ -225,6 +257,8 @@ BOOST_AUTO_TEST_CASE(walk_20cm_quasistatic_WB) {
BOOST_CHECK(cs.haveJointsDerivativesTrajectories()); BOOST_CHECK(cs.haveJointsDerivativesTrajectories());
BOOST_CHECK(cs.haveContactForcesTrajectories()); BOOST_CHECK(cs.haveContactForcesTrajectories());
BOOST_CHECK(cs.haveZMPtrajectories()); BOOST_CHECK(cs.haveZMPtrajectories());
BOOST_CHECK(cs.haveFriction());
BOOST_CHECK(cs.haveContactModelDefined());
} }
BOOST_AUTO_TEST_SUITE_END() BOOST_AUTO_TEST_SUITE_END()
...@@ -129,6 +129,8 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -129,6 +129,8 @@ class ExamplesSerialization(unittest.TestCase):
cs.loadFromBinary(str(PATH / "step_in_place.cs")) cs.loadFromBinary(str(PATH / "step_in_place.cs"))
self.assertEqual(cs.size(), 9) self.assertEqual(cs.size(), 9)
self.assertTrue(cs.haveConsistentContacts()) self.assertTrue(cs.haveConsistentContacts())
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
def test_step_in_place_COM(self): def test_step_in_place_COM(self):
cs = ContactSequence() cs = ContactSequence()
...@@ -138,6 +140,8 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -138,6 +140,8 @@ class ExamplesSerialization(unittest.TestCase):
self.assertTrue(cs.haveTimings()) self.assertTrue(cs.haveTimings())
self.assertTrue(cs.haveCentroidalValues()) self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories()) self.assertTrue(cs.haveCentroidalTrajectories())
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
checkCS(self, cs, effector=False, wholeBody=False) checkCS(self, cs, effector=False, wholeBody=False)
def test_step_in_place_REF(self): def test_step_in_place_REF(self):
...@@ -150,6 +154,8 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -150,6 +154,8 @@ class ExamplesSerialization(unittest.TestCase):
self.assertTrue(cs.haveCentroidalTrajectories()) self.assertTrue(cs.haveCentroidalTrajectories())
self.assertTrue(cs.haveEffectorsTrajectories()) self.assertTrue(cs.haveEffectorsTrajectories())
self.assertTrue(cs.haveEffectorsTrajectories(1e-6, False)) self.assertTrue(cs.haveEffectorsTrajectories(1e-6, False))
self.assertTrue(cs.haveFriction())
self.assertTrue(cs.haveContactModelDefined())
checkCS(self, cs, root=True, effector=True, wholeBody=False) checkCS(self, cs, root=True, effector=True, wholeBody=False)
def test_step_in_place_WB(self): def test_step_in_place_WB(self):
...@@ -165,6 +171,8 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -165,6 +171,8 @@ class ExamplesSerialization(unittest.TestCase):
self.assertTrue(cs.haveJointsDerivativesTrajectories()) self.assertTrue(cs.haveJointsDerivativesTrajectories())
self.assertTrue(cs.haveContactForcesTrajectories()) self.assertTrue(cs.haveContactForcesTrajectories())
self.assertTrue(cs.haveZMPtrajectories()) self.assertTrue(cs.haveZMPtrajectories())
self.assertTrue(cs.haveFriction())
self.assertTrue(cs.haveContactModelDefined())
checkCS(self, cs, effector=True, wholeBody=True) checkCS(self, cs, effector=True, wholeBody=True)
def test_step_in_place_quasistatic(self): def test_step_in_place_quasistatic(self):
...@@ -172,6 +180,8 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -172,6 +180,8 @@ class ExamplesSerialization(unittest.TestCase):
cs.loadFromBinary(str(PATH / "step_in_place_quasistatic.cs")) cs.loadFromBinary(str(PATH / "step_in_place_quasistatic.cs"))
self.assertEqual(cs.size(), 9) self.assertEqual(cs.size(), 9)
self.assertTrue(cs.haveConsistentContacts()) self.assertTrue(cs.haveConsistentContacts())
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
def test_step_in_place_quasistatic_COM(self): def test_step_in_place_quasistatic_COM(self):
cs = ContactSequence() cs = ContactSequence()
...@@ -181,6 +191,8 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -181,6 +191,8 @@ class ExamplesSerialization(unittest.TestCase):
self.assertTrue(cs.haveTimings()) self.assertTrue(cs.haveTimings())
self.assertTrue(cs.haveCentroidalValues()) self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories()) self.assertTrue(cs.haveCentroidalTrajectories())
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
checkCS(self, cs, quasistatic=True, effector=False, wholeBody=False) checkCS(self, cs, quasistatic=True, effector=False, wholeBody=False)
def test_step_in_place_quasistatic_REF(self): def test_step_in_place_quasistatic_REF(self):
...@@ -192,6 +204,8 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -192,6 +204,8 @@ class ExamplesSerialization(unittest.TestCase):
self.assertTrue(cs.haveCentroidalValues()) self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories()) self.assertTrue(cs.haveCentroidalTrajectories())
self.assertTrue(cs.haveEffectorsTrajectories()) self.assertTrue(cs.haveEffectorsTrajectories())
self.assertTrue(cs.haveFriction())
self.assertTrue(cs.haveContactModelDefined())
checkCS(self, cs, root=True, quasistatic=True, effector=True, wholeBody=False) checkCS(self, cs, root=True, quasistatic=True, effector=True, wholeBody=False)
def test_step_in_place_quasistatic_WB(self): def test_step_in_place_quasistatic_WB(self):
...@@ -207,12 +221,16 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -207,12 +221,16 @@ class ExamplesSerialization(unittest.TestCase):
self.assertTrue(cs.haveJointsDerivativesTrajectories()) self.assertTrue(cs.haveJointsDerivativesTrajectories())
self.assertTrue(cs.haveContactForcesTrajectories()) self.assertTrue(cs.haveContactForcesTrajectories())
self.assertTrue(cs.haveZMPtrajectories()) self.assertTrue(cs.haveZMPtrajectories())
self.assertTrue(cs.haveFriction())
self.assertTrue(cs.haveContactModelDefined())
checkCS(self, cs, quasistatic=True, effector=True, wholeBody=True) checkCS(self, cs, quasistatic=True, effector=True, wholeBody=True)
def test_walk_20cm(self): def test_walk_20cm(self):
cs = ContactSequence() cs = ContactSequence()
cs.loadFromBinary(str(PATH / "walk_20cm.cs")) cs.loadFromBinary(str(PATH / "walk_20cm.cs"))
self.assertEqual(cs.size(), 23) self.assertEqual(cs.size(), 23)
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
self.assertTrue(cs.haveConsistentContacts()) self.assertTrue(cs.haveConsistentContacts())
def test_walk_20cm_COM(self): def test_walk_20cm_COM(self):
...@@ -223,6 +241,8 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -223,6 +241,8 @@ class ExamplesSerialization(unittest.TestCase):
self.assertTrue(cs.haveTimings()) self.assertTrue(cs.haveTimings())
self.assertTrue(cs.haveCentroidalValues()) self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories()) self.assertTrue(cs.haveCentroidalTrajectories())
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
checkCS(self, cs, effector=False, wholeBody=False) checkCS(self, cs, effector=False, wholeBody=False)
def test_walk_20cm_REF(self): def test_walk_20cm_REF(self):
...@@ -234,6 +254,8 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -234,6 +254,8 @@ class ExamplesSerialization(unittest.TestCase):
self.assertTrue(cs.haveCentroidalValues()) self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories()) self.assertTrue(cs.haveCentroidalTrajectories())
self.assertTrue(cs.haveEffectorsTrajectories()) self.assertTrue(cs.haveEffectorsTrajectories())
self.assertTrue(cs.haveFriction())
self.assertTrue(cs.haveContactModelDefined())
checkCS(self, cs, root=True, effector=True, wholeBody=False) checkCS(self, cs, root=True, effector=True, wholeBody=False)
def test_walk_20cm_WB(self): def test_walk_20cm_WB(self):
...@@ -249,12 +271,16 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -249,12 +271,16 @@ class ExamplesSerialization(unittest.TestCase):
self.assertTrue(cs.haveJointsDerivativesTrajectories()) self.assertTrue(cs.haveJointsDerivativesTrajectories())
self.assertTrue(cs.haveContactForcesTrajectories()) self.assertTrue(cs.haveContactForcesTrajectories())
self.assertTrue(cs.haveZMPtrajectories()) self.assertTrue(cs.haveZMPtrajectories())
self.assertTrue(cs.haveFriction())
self.assertTrue(cs.haveContactModelDefined())
checkCS(self, cs, effector=True, wholeBody=True) checkCS(self, cs, effector=True, wholeBody=True)
def test_walk_20cm_quasistatic(self): def test_walk_20cm_quasistatic(self):
cs = ContactSequence() cs = ContactSequence()
cs.loadFromBinary(str(PATH / "walk_20cm_quasistatic.cs")) cs.loadFromBinary(str(PATH / "walk_20cm_quasistatic.cs"))
self.assertEqual(cs.size(), 23) self.assertEqual(cs.size(), 23)
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
self.assertTrue(cs.haveConsistentContacts()) self.assertTrue(cs.haveConsistentContacts())
def test_walk_20cm_quasistatic_COM(self): def test_walk_20cm_quasistatic_COM(self):
...@@ -265,6 +291,8 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -265,6 +291,8 @@ class ExamplesSerialization(unittest.TestCase):
self.assertTrue(cs.haveTimings()) self.assertTrue(cs.haveTimings())
self.assertTrue(cs.haveCentroidalValues()) self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories()) self.assertTrue(cs.haveCentroidalTrajectories())
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
checkCS(self, cs, quasistatic=True, effector=False, wholeBody=False) checkCS(self, cs, quasistatic=True, effector=False, wholeBody=False)
def test_walk_20cm_quasistatic_REF(self): def test_walk_20cm_quasistatic_REF(self):
...@@ -276,6 +304,8 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -276,6 +304,8 @@ class ExamplesSerialization(unittest.TestCase):
self.assertTrue(cs.haveCentroidalValues()) self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories()) self.assertTrue(cs.haveCentroidalTrajectories())
self.assertTrue(cs.haveEffectorsTrajectories()) self.assertTrue(cs.haveEffectorsTrajectories())
self.assertTrue(cs.haveFriction())
self.assertTrue(cs.haveContactModelDefined())
checkCS(self, cs, root=True, quasistatic=True, effector=True, wholeBody=False) checkCS(self, cs, root=True, quasistatic=True, effector=True, wholeBody=False)
def test_walk_20cm_quasistatic_WB(self): def test_walk_20cm_quasistatic_WB(self):
...@@ -291,6 +321,8 @@ class ExamplesSerialization(unittest.TestCase): ...@@ -291,6 +321,8 @@ class ExamplesSerialization(unittest.TestCase):
self.assertTrue(cs.haveJointsDerivativesTrajectories()) self.assertTrue(cs.haveJointsDerivativesTrajectories())
self.assertTrue(cs.haveContactForcesTrajectories()) self.assertTrue(cs.haveContactForcesTrajectories())
self.assertTrue(cs.haveZMPtrajectories()) self.assertTrue(cs.haveZMPtrajectories())
self.assertTrue(cs.haveFriction())
self.assertTrue(cs.haveContactModelDefined())
checkCS(self, cs, quasistatic=True, effector=True, wholeBody=True) checkCS(self, cs, quasistatic=True, effector=True, wholeBody=True)
......
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