[unittest] Simplify test_rpyToMatrix

unittest/rpy.cpp

@@ -15,34 +15,26 @@ BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
 
 BOOST_AUTO_TEST_CASE(test_rpyToMatrix)
 {
-#ifdef NDEBUG
-  const int n = 1e5;
-#else
-  const int n = 1e2;
-#endif
-  for(int k = 0; k < n ; ++k)
-  {
-    double r = static_cast <double> (rand()) / (static_cast <double> (RAND_MAX/(2*M_PI))) - M_PI;
-    double p = static_cast <double> (rand()) / (static_cast <double> (RAND_MAX/M_PI)) - (M_PI/2);
-    double y = static_cast <double> (rand()) / (static_cast <double> (RAND_MAX/(2*M_PI))) - M_PI;
-    
-    Eigen::Matrix3d R = pinocchio::rpy::rpyToMatrix(r, p, y);
-    
-    Eigen::Matrix3d Raa = (Eigen::AngleAxisd(y, Eigen::Vector3d::UnitZ())
-                             * Eigen::AngleAxisd(p, Eigen::Vector3d::UnitY())
-                             * Eigen::AngleAxisd(r, Eigen::Vector3d::UnitX())
-                             ).toRotationMatrix();
-    
-    BOOST_CHECK(R.isApprox(Raa));
-    
-    Eigen::Vector3d v;
-    v << r, p, y;
-    
-    Eigen::Matrix3d Rv = pinocchio::rpy::rpyToMatrix(v);
-    
-    BOOST_CHECK(Rv.isApprox(Raa));
-    BOOST_CHECK(Rv.isApprox(R));
-  }
+  double r = static_cast <double> (rand()) / (static_cast <double> (RAND_MAX/(2*M_PI))) - M_PI;
+  double p = static_cast <double> (rand()) / (static_cast <double> (RAND_MAX/M_PI)) - (M_PI/2);
+  double y = static_cast <double> (rand()) / (static_cast <double> (RAND_MAX/(2*M_PI))) - M_PI;
+  
+  Eigen::Matrix3d R = pinocchio::rpy::rpyToMatrix(r, p, y);
+  
+  Eigen::Matrix3d Raa = (Eigen::AngleAxisd(y, Eigen::Vector3d::UnitZ())
+                            * Eigen::AngleAxisd(p, Eigen::Vector3d::UnitY())
+                            * Eigen::AngleAxisd(r, Eigen::Vector3d::UnitX())
+                            ).toRotationMatrix();
+  
+  BOOST_CHECK(R.isApprox(Raa));
+  
+  Eigen::Vector3d v;
+  v << r, p, y;
+  
+  Eigen::Matrix3d Rv = pinocchio::rpy::rpyToMatrix(v);
+  
+  BOOST_CHECK(Rv.isApprox(Raa));
+  BOOST_CHECK(Rv.isApprox(R));
 }
 
 BOOST_AUTO_TEST_CASE(test_matrixToRpy)