Verified Commit 251164b8 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

test/joints: remove useless print function

parent f260eec5
...@@ -21,31 +21,8 @@ ...@@ -21,31 +21,8 @@
#include <boost/test/unit_test.hpp> #include <boost/test/unit_test.hpp>
//#define VERBOSE
using namespace pinocchio; using namespace pinocchio;
template<typename JointData>
void printOutJointData(const Eigen::VectorXd & q,
const Eigen::VectorXd & v,
const JointDataBase<JointData> & joint_data)
{
PINOCCHIO_UNUSED_VARIABLE(q);
PINOCCHIO_UNUSED_VARIABLE(v);
PINOCCHIO_UNUSED_VARIABLE(joint_data);
#ifdef VERBOSE
using namespace std;
cout << "q: " << q.transpose () << endl;
cout << "v: " << v.transpose () << endl;
cout << "Joint configuration:" << endl << joint_data.M() << endl;
cout << "v_J:\n" << (Motion) joint_data.v() << endl;
cout << "c_J:\n" << (Motion) joint_data.c() << endl;
#endif
}
template<typename D> template<typename D>
void addJointAndBody(Model & model, void addJointAndBody(Model & model,
const JointModelBase<D> & jmodel, const JointModelBase<D> & jmodel,
...@@ -645,8 +622,6 @@ BOOST_AUTO_TEST_CASE ( test_kinematics ) ...@@ -645,8 +622,6 @@ BOOST_AUTO_TEST_CASE ( test_kinematics )
joint_model.calc (joint_data, q, q_dot); joint_model.calc (joint_data, q, q_dot);
printOutJointData <JointDataPX> (q, q_dot, joint_data);
BOOST_CHECK (expected_configuration.rotation ().isApprox(joint_data.M.rotation(), 1e-12)); BOOST_CHECK (expected_configuration.rotation ().isApprox(joint_data.M.rotation(), 1e-12));
BOOST_CHECK (expected_configuration.translation ().isApprox(joint_data.M.translation (), 1e-12)); BOOST_CHECK (expected_configuration.translation ().isApprox(joint_data.M.translation (), 1e-12));
BOOST_CHECK (expected_v_J.toVector ().isApprox(((Motion) joint_data.v).toVector(), 1e-12)); BOOST_CHECK (expected_v_J.toVector ().isApprox(((Motion) joint_data.v).toVector(), 1e-12));
...@@ -656,11 +631,8 @@ BOOST_AUTO_TEST_CASE ( test_kinematics ) ...@@ -656,11 +631,8 @@ BOOST_AUTO_TEST_CASE ( test_kinematics )
q << 1.; q << 1.;
q_dot << 1.; q_dot << 1.;
joint_model.calc (joint_data, q, q_dot); joint_model.calc (joint_data, q, q_dot);
printOutJointData <JointDataPX> (q, q_dot, joint_data);
expected_configuration.translation () << 1, 0, 0; expected_configuration.translation () << 1, 0, 0;
expected_v_J.linear () << 1., 0., 0.; expected_v_J.linear () << 1., 0., 0.;
......
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