test: do not test JointMimic for AutoDiff

unittest/casadi-joints.cpp

@@ -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)
   {

unittest/cppad-joints.cpp

 //
-// 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