From 1506149298cad0d5e0196170161d68e0f7e7c284 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Wed, 27 Jul 2016 19:36:04 +0200
Subject: [PATCH] [Unit test][Bug] Correct initialisation of config
---
unittest/joint.cpp | 23 ++---------------------
1 file changed, 2 insertions(+), 21 deletions(-)
diff --git a/unittest/joint.cpp b/unittest/joint.cpp
index af387b59f..c232abf52 100644
--- a/unittest/joint.cpp
+++ b/unittest/joint.cpp
@@ -15,20 +15,8 @@
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
-#include "pinocchio/multibody/model.hpp"
-#include "pinocchio/algorithm/jacobian.hpp"
-#include "pinocchio/algorithm/frames.hpp"
-#include "pinocchio/algorithm/rnea.hpp"
-#include "pinocchio/algorithm/joint-configuration.hpp"
-#include "pinocchio/algorithm/compute-all-terms.hpp"
-#include "pinocchio/spatial/act-on-set.hpp"
-#include "pinocchio/parsers/sample-models.hpp"
-#include "pinocchio/tools/timer.hpp"
-
#include "pinocchio/multibody/joint/joint.hpp"
-#include <iostream>
-
#define BOOST_TEST_DYN_LINK
#define BOOST_TEST_MODULE JointTest
#include <boost/test/unit_test.hpp>
@@ -44,15 +32,8 @@ void test_joint_methods (T & jmodel, typename T::JointDataDerived & jdata)
se3::Inertia::Matrix6 Ia(se3::Inertia::Random().matrix());
bool update_I = false;
- if(jmodel.shortname() == "JointModelRUBX" ||
- jmodel.shortname() == "JointModelRUBY" ||
- jmodel.shortname() == "JointModelRUBZ")
- {
- // normalize cos/sin
- q1.normalize();
- q2.normalize();
- }
-
+ q1 = jmodel.random();
+ q2 = jmodel.random();
jmodel.calc(jdata, q1, q1_dot);
jmodel.calc_aba(jdata, Ia, update_I);
--
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