Commit 4489d4d1 authored by jcarpent's avatar jcarpent
Browse files

[Test] Increase URDF test

parent a95e9c63
......@@ -41,6 +41,21 @@ BOOST_AUTO_TEST_CASE ( build_model )
BOOST_CHECK(model.nq == 31);
}
BOOST_AUTO_TEST_CASE ( build_model_simple_humanoid )
{
const std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
se3::Model model;
se3::urdf::buildModel(filename, model);
BOOST_CHECK(model.nq == 29);
se3::Model model_ff;
se3::urdf::buildModel(filename, se3::JointModelFreeFlyer(), model_ff);
BOOST_CHECK(model_ff.nq == 36);
}
BOOST_AUTO_TEST_CASE ( build_model_from_XML )
{
......
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