Verified Commit 932873e1 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

test/kinematics-derivatives: use Tensor3x

parent d5ef387e
......@@ -575,7 +575,7 @@ BOOST_AUTO_TEST_CASE(test_kinematics_hessians)
// WORLD
getJointJacobian(model,data_ref,joint_id,WORLD,J_ref);
Data::Tensor3 kinematic_hessian_world = getJointKinematicHessian(model,data,joint_id,WORLD);
Data::Tensor3x kinematic_hessian_world = getJointKinematicHessian(model,data,joint_id,WORLD);
for(Eigen::DenseIndex k = 0; k < model.nv; ++k)
{
v_plus[k] = eps;
......@@ -597,7 +597,7 @@ BOOST_AUTO_TEST_CASE(test_kinematics_hessians)
// LOCAL_WORLD_ALIGNED
computeJointJacobians(model,data_ref,q);
getJointJacobian(model,data_ref,joint_id,LOCAL_WORLD_ALIGNED,J_ref);
Data::Tensor3 kinematic_hessian_local_world_aligned = getJointKinematicHessian(model,data,joint_id,LOCAL_WORLD_ALIGNED);
Data::Tensor3x kinematic_hessian_local_world_aligned = getJointKinematicHessian(model,data,joint_id,LOCAL_WORLD_ALIGNED);
Data::Matrix3x dt_last_fd(3,model.nv);
for(Eigen::DenseIndex k = 0; k < model.nv; ++k)
{
......@@ -630,7 +630,7 @@ BOOST_AUTO_TEST_CASE(test_kinematics_hessians)
// LOCAL
computeJointJacobians(model,data_ref,q);
getJointJacobian(model,data_ref,joint_id,LOCAL,J_ref);
Data::Tensor3 kinematic_hessian_local = getJointKinematicHessian(model,data,joint_id,LOCAL);
Data::Tensor3x kinematic_hessian_local = getJointKinematicHessian(model,data,joint_id,LOCAL);
for(Eigen::DenseIndex k = 0; k < model.nv; ++k)
{
v_plus[k] = eps;
......
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