From 0d14e6d4af8ebbc7b1412a7021ef6dbbfbdb39f3 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Sat, 23 Jul 2016 13:23:39 +0200
Subject: [PATCH] [Unit test] Clean unit test
---
unittest/aba.cpp | 1 -
unittest/compute-all-terms.cpp | 7 -------
unittest/geom.cpp | 23 ++++-------------------
unittest/joint-configurations.cpp | 9 ---------
unittest/joint.cpp | 6 +-----
5 files changed, 5 insertions(+), 41 deletions(-)
diff --git a/unittest/aba.cpp b/unittest/aba.cpp
index ac78668c5..89b6f7310 100644
--- a/unittest/aba.cpp
+++ b/unittest/aba.cpp
@@ -15,7 +15,6 @@
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
-
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/se3.hpp"
#include "pinocchio/multibody/visitor.hpp"
diff --git a/unittest/compute-all-terms.cpp b/unittest/compute-all-terms.cpp
index 79167de74..ab96ecb54 100644
--- a/unittest/compute-all-terms.cpp
+++ b/unittest/compute-all-terms.cpp
@@ -15,13 +15,6 @@
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
-/*
- * Unittest of the RNE algorithm. The code simply test that the algorithm does
- * not cause any serious errors. The numerical values are not cross validated
- * in any way.
- *
- */
-
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/se3.hpp"
#include "pinocchio/multibody/visitor.hpp"
diff --git a/unittest/geom.cpp b/unittest/geom.cpp
index 5f331f2ea..dc3c03db4 100644
--- a/unittest/geom.cpp
+++ b/unittest/geom.cpp
@@ -15,30 +15,16 @@
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
-/*
- * Compare the value obtained with the RNEA with the values obtained from
- * RBDL. The test is not complete. It only validates the RNEA for the revolute
- * joints. The free-flyer is not tested. It should be extended to account for
- * the free flyer and for the other algorithms.
- *
- * Additionnal notes: the RNEA is an algorithm that can be used to validate
- * many others (in particular, the mass matrix (CRBA) can be numerically
- * validated from the RNEA, then the center-of-mass jacobian can be validated
- * from the mass matrix, etc.
- *
- */
-
#include <iostream>
#include <iomanip>
#include "pinocchio/multibody/model.hpp"
-#include "pinocchio/parsers/sample-models.hpp"
-#include "pinocchio/algorithm/kinematics.hpp"
-#include "pinocchio/algorithm/geometry.hpp"
-#include "pinocchio/parsers/urdf.hpp"
-#include "pinocchio/spatial/explog.hpp"
+#include "pinocchio/spatial/explog.hpp"
#include "pinocchio/multibody/geometry.hpp"
+#include "pinocchio/algorithm/kinematics.hpp"
+#include "pinocchio/algorithm/collisions.hpp"
+#include "pinocchio/parsers/urdf.hpp"
#include <vector>
@@ -140,7 +126,6 @@ std::ostream& operator<<(std::ostream& os, const std::pair < se3::Model, se3::Ge
return os;
}
-
BOOST_AUTO_TEST_SUITE ( GeomTest )
BOOST_AUTO_TEST_CASE ( simple_boxes )
diff --git a/unittest/joint-configurations.cpp b/unittest/joint-configurations.cpp
index a52e8f377..a9fca0c23 100644
--- a/unittest/joint-configurations.cpp
+++ b/unittest/joint-configurations.cpp
@@ -15,19 +15,10 @@
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
-
-#include <iostream>
-#include <iomanip>
-
#include "pinocchio/multibody/model.hpp"
-#include "pinocchio/parsers/sample-models.hpp"
-#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
-#include "pinocchio/spatial/explog.hpp"
#include "pinocchio/math/quaternion.hpp"
-#include <vector>
-
#define BOOST_TEST_DYN_LINK
#define BOOST_TEST_MODULE JointConfigurationsTest
#include <boost/test/unit_test.hpp>
diff --git a/unittest/joint.cpp b/unittest/joint.cpp
index bdf1cfaee..0dd6a2734 100644
--- a/unittest/joint.cpp
+++ b/unittest/joint.cpp
@@ -137,16 +137,12 @@ BOOST_AUTO_TEST_SUITE ( JointTest)
BOOST_AUTO_TEST_CASE ( test_all_joints )
{
- using namespace Eigen;
using namespace se3;
Model model;
buildModels::humanoidSimple(model);
- se3::Data data(model);
-
+ Data data(model);
boost::mpl::for_each<JointModelVariant::types>(TestJoint());
-
-
}
BOOST_AUTO_TEST_SUITE_END ()
--
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