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Stack Of Tasks
pinocchio
Commits
6aab7e0f
Verified
Commit
6aab7e0f
authored
Dec 20, 2019
by
Justin Carpentier
Browse files
data: add operator== and test it
parent
08fb287d
Changes
2
Hide whitespace changes
Inline
Side-by-side
src/multibody/data.hxx
View file @
6aab7e0f
...
...
@@ -211,7 +211,85 @@ namespace pinocchio
const
DataTpl
<
Scalar
,
Options
,
JointCollectionTpl
>
&
data2
)
{
return
data1
.
joints
==
data2
.
joints
data1
.
joints
==
data2
.
joints
&&
data1
.
a
==
data2
.
a
&&
data1
.
oa
==
data2
.
oa
&&
data1
.
a_gf
==
data2
.
a_gf
&&
data1
.
oa_gf
==
data2
.
oa_gf
&&
data1
.
v
==
data2
.
v
&&
data1
.
ov
==
data2
.
ov
&&
data1
.
f
==
data2
.
f
&&
data1
.
of
==
data2
.
of
&&
data1
.
h
==
data2
.
h
&&
data1
.
oh
==
data2
.
oh
&&
data1
.
oMi
==
data2
.
oMi
&&
data1
.
liMi
==
data2
.
liMi
&&
data1
.
tau
==
data2
.
tau
&&
data1
.
nle
==
data2
.
nle
&&
data1
.
g
==
data2
.
g
&&
data1
.
oMf
==
data2
.
oMf
&&
data1
.
Ycrb
==
data2
.
Ycrb
&&
data1
.
dYcrb
==
data2
.
dYcrb
&&
data1
.
M
==
data2
.
M
&&
data1
.
Minv
==
data2
.
Minv
&&
data1
.
C
==
data2
.
C
&&
data1
.
dHdq
==
data2
.
dHdq
&&
data1
.
dFdq
==
data2
.
dFdq
&&
data1
.
dFdv
==
data2
.
dFdv
&&
data1
.
dFda
==
data2
.
dFda
&&
data1
.
SDinv
==
data2
.
SDinv
&&
data1
.
UDinv
==
data2
.
UDinv
&&
data1
.
IS
==
data2
.
IS
&&
data1
.
vxI
==
data2
.
vxI
&&
data1
.
Ivx
==
data2
.
Ivx
&&
data1
.
oYcrb
==
data2
.
oYcrb
&&
data1
.
doYcrb
==
data2
.
doYcrb
&&
data1
.
ddq
==
data2
.
ddq
&&
data1
.
Yaba
==
data2
.
Yaba
&&
data1
.
u
==
data2
.
u
&&
data1
.
Ag
==
data2
.
Ag
&&
data1
.
dAg
==
data2
.
dAg
&&
data1
.
hg
==
data2
.
hg
&&
data1
.
dhg
==
data2
.
dhg
&&
data1
.
Ig
==
data2
.
Ig
&&
data1
.
Fcrb
==
data2
.
Fcrb
&&
data1
.
lastChild
==
data2
.
lastChild
&&
data1
.
nvSubtree
==
data2
.
nvSubtree
&&
data1
.
start_idx_v_fromRow
==
data2
.
start_idx_v_fromRow
&&
data1
.
end_idx_v_fromRow
==
data2
.
end_idx_v_fromRow
&&
data1
.
U
==
data2
.
U
&&
data1
.
D
==
data2
.
D
&&
data1
.
Dinv
==
data2
.
Dinv
&&
data1
.
parents_fromRow
==
data2
.
parents_fromRow
&&
data1
.
supports_fromRow
==
data2
.
supports_fromRow
&&
data1
.
nvSubtree_fromRow
==
data2
.
nvSubtree_fromRow
&&
data1
.
J
==
data2
.
J
&&
data1
.
dJ
==
data2
.
dJ
&&
data1
.
dVdq
==
data2
.
dVdq
&&
data1
.
dAdq
==
data2
.
dAdq
&&
data1
.
dAdv
==
data2
.
dAdv
&&
data1
.
dtau_dq
==
data2
.
dtau_dq
&&
data1
.
dtau_dv
==
data2
.
dtau_dv
&&
data1
.
ddq_dq
==
data2
.
ddq_dq
&&
data1
.
ddq_dv
==
data2
.
ddq_dv
&&
data1
.
iMf
==
data2
.
iMf
&&
data1
.
com
==
data2
.
com
&&
data1
.
vcom
==
data2
.
vcom
&&
data1
.
acom
==
data2
.
acom
&&
data1
.
mass
==
data2
.
mass
&&
data1
.
Jcom
==
data2
.
Jcom
&&
data1
.
kinetic_energy
==
data2
.
kinetic_energy
&&
data1
.
potential_energy
==
data2
.
potential_energy
&&
data1
.
JMinvJt
==
data2
.
JMinvJt
&&
data1
.
lambda_c
==
data2
.
lambda_c
&&
data1
.
torque_residual
==
data2
.
torque_residual
&&
data1
.
dq_after
==
data2
.
dq_after
&&
data1
.
impulse_c
==
data2
.
impulse_c
&&
data1
.
staticRegressor
==
data2
.
staticRegressor
&&
data1
.
bodyRegressor
==
data2
.
bodyRegressor
&&
data1
.
jointTorqueRegressor
==
data2
.
jointTorqueRegressor
&&
data1
.
kinematic_hessians
==
data2
.
kinematic_hessians
;
}
...
...
unittest/data.cpp
View file @
6aab7e0f
...
...
@@ -65,4 +65,16 @@ BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
}
}
BOOST_AUTO_TEST_CASE
(
test_copy_and_equal_op
)
{
Model
model
;
buildModels
::
humanoidRandom
(
model
);
Data
data
(
model
);
Data
data_copy
=
data
;
BOOST_CHECK
(
data
==
data
);
BOOST_CHECK
(
data
==
data_copy
);
}
BOOST_AUTO_TEST_SUITE_END
()
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