Verified Commit 3af079b5 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

test: do not test JointMimic for AutoDiff

parent f6943dad
......@@ -267,6 +267,11 @@ struct TestADOnJoints
test(jmodel);
}
// TODO: get the nq and nv quantity from LieGroups
template<typename JointModel_>
static void test(const pinocchio::JointModelMimic<JointModel_> & /*jmodel*/)
{ /* do nothing */ }
template<typename JointModel>
static void test(const pinocchio::JointModelBase<JointModel> & jmodel)
{
......
//
// Copyright (c) 2018 CNRS
// Copyright (c) 2018-2019 CNRS INRIA
//
#include "pinocchio/fwd.hpp"
......@@ -121,6 +121,17 @@ struct TestADOnJoints
test(jmodel);
}
template<typename Scalar, int Options>
void operator()(const pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar,Options> & ) const
{
typedef pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar,Options> JointModel;
typedef typename JointModel::Vector3 Vector3;
JointModel jmodel(Vector3::Random().normalized());
jmodel.setIndexes(0,0,0);
test(jmodel);
}
template<typename Scalar, int Options>
void operator()(const pinocchio::JointModelPrismaticUnalignedTpl<Scalar,Options> & ) const
{
......@@ -142,6 +153,13 @@ struct TestADOnJoints
test(jmodel);
}
// TODO: implement it
template<typename JointModel_>
void operator()(const pinocchio::JointModelMimic<JointModel_> & /*jmodel*/) const
{
/* do nothing */
}
template<typename Scalar, int Options, template<typename,int> class JointCollection>
void operator()(const pinocchio::JointModelCompositeTpl<Scalar,Options,JointCollection> & ) const
......
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