Verified Commit b126ccf9 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

test/spatial: use MotionZero

parent 9023b4a2
......@@ -306,19 +306,19 @@ BOOST_AUTO_TEST_CASE (test_motion_ref)
BOOST_AUTO_TEST_CASE(test_motion_zero)
{
using namespace pinocchio;
Motion v((BiasZero()));
Motion v((MotionZero()));
BOOST_CHECK(v.toVector().isZero());
BOOST_CHECK(BiasZero() == Motion::Zero());
BOOST_CHECK(MotionZero() == Motion::Zero());
// SE3.act
SE3 m(SE3::Random());
BOOST_CHECK(m.act(BiasZero()) == Motion::Zero());
BOOST_CHECK(m.actInv(BiasZero()) == Motion::Zero());
BOOST_CHECK(m.act(MotionZero()) == Motion::Zero());
BOOST_CHECK(m.actInv(MotionZero()) == Motion::Zero());
// Motion.cross
Motion v2(Motion::Random());
BOOST_CHECK(v2.cross(BiasZero()) == Motion::Zero());
BOOST_CHECK(v2.cross(MotionZero()) == Motion::Zero());
}
BOOST_AUTO_TEST_CASE ( test_Force )
......
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