Commit 7ade8067 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Remove remainin references to Eigen::Index in ./unittest/tasks.cpp

parent 2f1bb1c3
......@@ -181,7 +181,7 @@ const HQPOutput & SolverHQuadProg::solve(const HQPData & problemData)
// Z = m_CE_dec.matrixZ(); // * m_CE_dec.colsPermutation();
ZT.setIdentity();
//m_CE_dec.applyZAdjointOnTheLeftInPlace(ZT);
typedef Eigen::Index Index;
typedef tsid::math::Index Index;
const Index rank = m_CE_dec.rank();
Vector temp(m_n);
for (Index k = 0; k < rank; ++k)
......
......@@ -93,7 +93,7 @@ BOOST_AUTO_TEST_CASE ( test_task_se3_equality )
task.setReference(sample);
const ConstraintBase & constraint = task.compute(t, q, v, data);
BOOST_CHECK(constraint.rows()==6);
BOOST_CHECK(constraint.cols()==static_cast<Eigen::Index>(robot.nv()));
BOOST_CHECK(static_cast<tsid::math::Index>(constraint.cols())==static_cast<tsid::math::Index>(robot.nv()));
REQUIRE_FINITE(constraint.matrix());
BOOST_REQUIRE(isFinite(constraint.vector()));
......@@ -172,7 +172,7 @@ BOOST_AUTO_TEST_CASE ( test_task_com_equality )
task.setReference(sample);
const ConstraintBase & constraint = task.compute(t, q, v, data);
BOOST_CHECK(constraint.rows()==3);
BOOST_CHECK(constraint.cols()==static_cast<Eigen::Index>(robot.nv()));
BOOST_CHECK(static_cast<tsid::math::Index>(constraint.cols())==static_cast<tsid::math::Index>(robot.nv()));
BOOST_REQUIRE(isFinite(constraint.matrix()));
BOOST_REQUIRE(isFinite(constraint.vector()));
......@@ -244,7 +244,7 @@ BOOST_AUTO_TEST_CASE ( test_task_joint_posture )
task.setReference(sample);
const ConstraintBase & constraint = task.compute(t, q, v, data);
BOOST_CHECK(constraint.rows()==na);
BOOST_CHECK(constraint.cols()==static_cast<Eigen::Index>(robot.nv()));
BOOST_CHECK(static_cast<tsid::math::Index>(constraint.cols())==static_cast<tsid::math::Index>(robot.nv()));
BOOST_REQUIRE(isFinite(constraint.matrix()));
BOOST_REQUIRE(isFinite(constraint.vector()));
......
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