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Stack Of Tasks
pinocchio
Commits
b6406a0a
Verified
Commit
b6406a0a
authored
Oct 21, 2020
by
Justin Carpentier
Browse files
test/python: handle 2nd signature
parent
3b375262
Pipeline
#11804
passed with stage
in 164 minutes and 16 seconds
Changes
1
Pipelines
1
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Inline
Side-by-side
unittest/python/bindings_dynamics.py
View file @
b6406a0a
...
...
@@ -64,7 +64,9 @@ class TestDynamicsBindings(TestCase):
KKT_inverse_ref
=
pin
.
getKKTContactDynamicMatrixInverse
(
model
,
data_ref
,
J
)
KKT_inverse
=
pin
.
computeKKTContactDynamicMatrixInverse
(
model
,
data
,
q
,
J
)
KKT_inverse2
=
pin
.
computeKKTContactDynamicMatrixInverse
(
model
,
data
,
q
,
J
,
0.
)
self
.
assertApprox
(
KKT_inverse
,
KKT_inverse_ref
)
self
.
assertApprox
(
KKT_inverse2
,
KKT_inverse_ref
)
def
test_forwardDynamics_rcoeff
(
self
):
data_no_q
=
self
.
model
.
createData
()
...
...
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