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Stack Of Tasks
pinocchio
Commits
b0541daf
Commit
b0541daf
authored
Nov 25, 2020
by
Gabriele Buondonno
Browse files
[unittest/python] More robust test
parent
b11e7835
Pipeline
#12432
passed with stage
in 227 minutes and 48 seconds
Changes
1
Pipelines
1
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Inline
Side-by-side
unittest/python/rpy.py
View file @
b0541daf
...
...
@@ -152,7 +152,7 @@ class TestRPY(TestCase):
# Check against finite differences
rpydot
=
np
.
random
.
rand
(
3
)
eps
=
1e-7
tol
=
1e-
5
tol
=
1e-
4
dRdr
=
(
rpyToMatrix
(
r
+
eps
,
p
,
y
)
-
R
)
/
eps
dRdp
=
(
rpyToMatrix
(
r
,
p
+
eps
,
y
)
-
R
)
/
eps
...
...
@@ -160,10 +160,10 @@ class TestRPY(TestCase):
Rdot
=
dRdr
*
rpydot
[
0
]
+
dRdp
*
rpydot
[
1
]
+
dRdy
*
rpydot
[
2
]
omegaL
=
jL
.
dot
(
rpydot
)
self
.
assert
Approx
(
Rdot
,
R
.
dot
(
pin
.
skew
(
omegaL
)),
tol
)
self
.
assert
True
(
np
.
allclose
(
Rdot
,
R
.
dot
(
pin
.
skew
(
omegaL
)),
a
tol
=
tol
)
)
omegaW
=
jW
.
dot
(
rpydot
)
self
.
assert
Approx
(
Rdot
,
pin
.
skew
(
omegaW
).
dot
(
R
),
tol
)
self
.
assert
True
(
np
.
allclose
(
Rdot
,
pin
.
skew
(
omegaW
).
dot
(
R
),
a
tol
=
tol
)
)
def
test_rpyToJacInv
(
self
):
# Check correct identities between different versions
...
...
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