Commit b500b8f8 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[C++] CS: test consistency of COM and AM trajectory : add approximation...

[C++] CS: test consistency of COM and AM trajectory : add approximation treshold for derivatives values at 1e-6
parent 6da88137
......@@ -434,7 +434,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
}
}
// FIXME : isApprox do not work when values close to 0
else if(!(*phase.m_dc)(phase.m_dc->min()).isApprox(phase.m_dc_init) ){
else if(!(*phase.m_dc)(phase.m_dc->min()).isApprox(phase.m_dc_init, 1e-6) ){
std::cout<<"CoM velocity trajectory do not start at dc_init for phase : "<<i<<std::endl;
return false;
}
......@@ -444,7 +444,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
return false;
}
}
else if(!(*phase.m_ddc)(phase.m_ddc->min()).isApprox(phase.m_ddc_init) ){
else if(!(*phase.m_ddc)(phase.m_ddc->min()).isApprox(phase.m_ddc_init, 1e-6) ){
std::cout<<"CoM acceleration trajectory do not start at ddc_init for phase : "<<i<<std::endl;
return false;
}
......@@ -458,7 +458,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
return false;
}
}
else if(!(*phase.m_dc)(phase.m_dc->max()).isApprox(phase.m_dc_final) ){
else if(!(*phase.m_dc)(phase.m_dc->max()).isApprox(phase.m_dc_final, 1e-6) ){
std::cout<<"CoM velocity trajectory do not end at dc_final for phase : "<<i<<std::endl;
return false;
}
......@@ -468,7 +468,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
return false;
}
}
else if(!(*phase.m_ddc)(phase.m_ddc->max()).isApprox(phase.m_ddc_final) ){
else if(!(*phase.m_ddc)(phase.m_ddc->max()).isApprox(phase.m_ddc_final, 1e-6) ){
std::cout<<"CoM acceleration trajectory do not end at ddc_final for phase : "<<i<<std::endl;
return false;
}
......@@ -528,7 +528,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
return false;
}
}
else if(!(*phase.m_dL)(phase.m_dL->min()).isApprox(phase.m_dL_init) ){
else if(!(*phase.m_dL)(phase.m_dL->min()).isApprox(phase.m_dL_init, 1e-6) ){
std::cout<<"AM derivative trajectory do not start at dL_init for phase : "<<i<<std::endl;
return false;
}
......@@ -538,7 +538,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
return false;
}
}
else if(!(*phase.m_L)(phase.m_L->max()).isApprox(phase.m_L_final) ){
else if(!(*phase.m_L)(phase.m_L->max()).isApprox(phase.m_L_final, 1e-6) ){
std::cout<<"AM trajectory do not end at L_final for phase : "<<i<<std::endl;
return false;
}
......
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