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Commit c8cbb171 authored by Pierre Fernbach's avatar Pierre Fernbach
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[Tests] update to changes in operator == in Curves

parent 893dd450
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unittest/scenario.cpp
View file @ c8cbb171
...@@ -216,18 +216,18 @@ void explicitContactPhaseAssertEqual(ContactPhase& cp1, ContactPhase& cp2){ ...@@ -216,18 +216,18 @@ void explicitContactPhaseAssertEqual(ContactPhase& cp1, ContactPhase& cp2){
BOOST_CHECK((*cp1.m_wrench)(cp2.m_wrench->min())==(*cp2.m_wrench)(cp2.m_wrench->min())); BOOST_CHECK((*cp1.m_wrench)(cp2.m_wrench->min())==(*cp2.m_wrench)(cp2.m_wrench->min()));
BOOST_CHECK((*cp1.m_zmp)(cp2.m_zmp->min())==(*cp2.m_zmp)(cp2.m_zmp->min())); BOOST_CHECK((*cp1.m_zmp)(cp2.m_zmp->min())==(*cp2.m_zmp)(cp2.m_zmp->min()));
BOOST_CHECK((*cp1.m_root)(cp2.m_root->min()).isApprox((*cp2.m_root)(cp2.m_root->min()))); BOOST_CHECK((*cp1.m_root)(cp2.m_root->min()).isApprox((*cp2.m_root)(cp2.m_root->min())));
BOOST_CHECK(*cp1.m_q == *cp2.m_q); BOOST_CHECK(cp1.m_q->isApprox(cp2.m_q.get()));
BOOST_CHECK(*cp1.m_dq == *cp2.m_dq); BOOST_CHECK(cp1.m_dq->isApprox(cp2.m_dq.get()));
BOOST_CHECK(*cp1.m_ddq == *cp2.m_ddq); BOOST_CHECK(cp1.m_ddq->isApprox(cp2.m_ddq.get()));
BOOST_CHECK(*cp1.m_tau == *cp2.m_tau); BOOST_CHECK(cp1.m_tau->isApprox(cp2.m_tau.get()));
BOOST_CHECK(*cp1.m_c == *cp2.m_c); BOOST_CHECK(cp1.m_c->isApprox(cp2.m_c.get()));
BOOST_CHECK(*cp1.m_dc == *cp2.m_dc); BOOST_CHECK(cp1.m_dc->isApprox(cp2.m_dc.get()));
BOOST_CHECK(*cp1.m_ddc == *cp2.m_ddc); BOOST_CHECK(cp1.m_ddc->isApprox(cp2.m_ddc.get()));
BOOST_CHECK(*cp1.m_L == *cp2.m_L); BOOST_CHECK(cp1.m_L->isApprox(cp2.m_L.get()));
BOOST_CHECK(*cp1.m_dL == *cp2.m_dL); BOOST_CHECK(cp1.m_dL->isApprox(cp2.m_dL.get()));
BOOST_CHECK(*cp1.m_wrench == *cp2.m_wrench); BOOST_CHECK(cp1.m_wrench->isApprox(cp2.m_wrench.get()));
BOOST_CHECK(*cp1.m_zmp == *cp2.m_zmp); BOOST_CHECK(cp1.m_zmp->isApprox(cp2.m_zmp.get()));
BOOST_CHECK(*cp1.m_root == *cp2.m_root); BOOST_CHECK(cp1.m_root->isApprox(cp2.m_root.get()));
BOOST_CHECK(cp1.contactForces() == cp2.contactForces()); BOOST_CHECK(cp1.contactForces() == cp2.contactForces());
BOOST_CHECK(cp1.contactNormalForces() == cp2.contactNormalForces()); BOOST_CHECK(cp1.contactNormalForces() == cp2.contactNormalForces());
BOOST_CHECK(cp1.effectorTrajectories() == cp2.effectorTrajectories()); BOOST_CHECK(cp1.effectorTrajectories() == cp2.effectorTrajectories());
...@@ -240,13 +240,13 @@ void explicitContactPhaseAssertEqual(ContactPhase& cp1, ContactPhase& cp2){ ...@@ -240,13 +240,13 @@ void explicitContactPhaseAssertEqual(ContactPhase& cp1, ContactPhase& cp2){
BOOST_CHECK(cp1.contactPatch(*ee) == cp2.contactPatch(*ee)); BOOST_CHECK(cp1.contactPatch(*ee) == cp2.contactPatch(*ee));
if(cp1.contactForces().count(*ee)){ if(cp1.contactForces().count(*ee)){
BOOST_CHECK(cp2.contactForces().count(*ee)); BOOST_CHECK(cp2.contactForces().count(*ee));
BOOST_CHECK(*cp1.contactForces(*ee) == *cp2.contactForces(*ee)); BOOST_CHECK(cp1.contactForces(*ee)->isApprox(cp2.contactForces(*ee).get()));
BOOST_CHECK((*cp1.contactForces(*ee))(cp1.contactForces(*ee)->min()) == (*cp2.contactForces(*ee))(cp2.contactForces(*ee)->min())); BOOST_CHECK((*cp1.contactForces(*ee))(cp1.contactForces(*ee)->min()) == (*cp2.contactForces(*ee))(cp2.contactForces(*ee)->min()));
BOOST_CHECK((*cp1.contactForces(*ee))(cp1.contactForces(*ee)->max()) == (*cp2.contactForces(*ee))(cp2.contactForces(*ee)->max())); BOOST_CHECK((*cp1.contactForces(*ee))(cp1.contactForces(*ee)->max()) == (*cp2.contactForces(*ee))(cp2.contactForces(*ee)->max()));
} }
if(cp1.contactNormalForces().count(*ee)){ if(cp1.contactNormalForces().count(*ee)){
BOOST_CHECK(cp2.contactNormalForces().count(*ee)); BOOST_CHECK(cp2.contactNormalForces().count(*ee));
BOOST_CHECK(*cp1.contactNormalForces(*ee) == *cp2.contactNormalForces(*ee)); BOOST_CHECK(cp1.contactNormalForces(*ee)->isApprox(cp2.contactNormalForces(*ee).get()));
BOOST_CHECK((*cp1.contactNormalForces(*ee))(cp1.contactNormalForces(*ee)->min()) == (*cp2.contactNormalForces(*ee))(cp2.contactNormalForces(*ee)->min())); BOOST_CHECK((*cp1.contactNormalForces(*ee))(cp1.contactNormalForces(*ee)->min()) == (*cp2.contactNormalForces(*ee))(cp2.contactNormalForces(*ee)->min()));
BOOST_CHECK((*cp1.contactNormalForces(*ee))(cp1.contactNormalForces(*ee)->max()) == (*cp2.contactNormalForces(*ee))(cp2.contactNormalForces(*ee)->max())); BOOST_CHECK((*cp1.contactNormalForces(*ee))(cp1.contactNormalForces(*ee)->max()) == (*cp2.contactNormalForces(*ee))(cp2.contactNormalForces(*ee)->max()));
} }
...@@ -256,7 +256,7 @@ void explicitContactPhaseAssertEqual(ContactPhase& cp1, ContactPhase& cp2){ ...@@ -256,7 +256,7 @@ void explicitContactPhaseAssertEqual(ContactPhase& cp1, ContactPhase& cp2){
{ {
std::cout<<"## For effector trajectory "<<mit->first<<std::endl; std::cout<<"## For effector trajectory "<<mit->first<<std::endl;
BOOST_CHECK(cp2.effectorTrajectories().count(mit->first)); BOOST_CHECK(cp2.effectorTrajectories().count(mit->first));
BOOST_CHECK(*cp1.effectorTrajectories(mit->first) == *cp2.effectorTrajectories(mit->first)); BOOST_CHECK(cp1.effectorTrajectories(mit->first)->isApprox(cp2.effectorTrajectories(mit->first).get()));
BOOST_CHECK((*cp1.effectorTrajectories(mit->first))(cp1.effectorTrajectories(mit->first)->min()).isApprox((*cp2.effectorTrajectories(mit->first))(cp2.effectorTrajectories(mit->first)->min()))); BOOST_CHECK((*cp1.effectorTrajectories(mit->first))(cp1.effectorTrajectories(mit->first)->min()).isApprox((*cp2.effectorTrajectories(mit->first))(cp2.effectorTrajectories(mit->first)->min())));
BOOST_CHECK((*cp1.effectorTrajectories(mit->first))(cp1.effectorTrajectories(mit->first)->max()).isApprox((*cp2.effectorTrajectories(mit->first))(cp2.effectorTrajectories(mit->first)->max()))); BOOST_CHECK((*cp1.effectorTrajectories(mit->first))(cp1.effectorTrajectories(mit->first)->max()).isApprox((*cp2.effectorTrajectories(mit->first))(cp2.effectorTrajectories(mit->first)->max())));
} }
......
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