Merge pull request #963 from jcarpent/devel

Fix some bugs in Python unit tests in debug mode

.gitlab-ci.yml

@@ -61,7 +61,8 @@ robotpkg-pinocchio-18.04-debug:
   script:
     - mkdir -p ccache
     - cd /root/robotpkg/math
-    - git pull
+    - git fetch
+    - git reset --hard origin/master
     - cd pinocchio
     - make checkout MASTER_REPOSITORY="git ${CI_PROJECT_DIR}/.git"
     - cd ..

bindings/python/multibody/model.hpp

@@ -66,15 +66,20 @@ namespace pinocchio
           throw eigenpy::Exception("Pickle was not able to reconstruct the model from the loaded data.\n"
                                    "The pickle data structure contains too many elements.");
         }
+        
         bp::object py_obj = tup[0];
-        if(!PyString_Check(py_obj.ptr()))
+        boost::python::extract<std::string> obj_as_string(py_obj.ptr());
+        if(obj_as_string.check())
+        {
+          const std::string str = obj_as_string;
+          model.loadFromString(str);
+        }
+        else
         {
           throw eigenpy::Exception("Pickle was not able to reconstruct the model from the loaded data.\n"
                                    "The entry is not a string.");
         }
 
-        const std::string str(PyString_AsString(py_obj.ptr()));
-        model.loadFromString(str);
       }
     };
     

package.xml

 <?xml version="1.0"?>
 <package format="2">
   <name>pinocchio</name>
-  <version>2.1.11</version>
+  <version>2.2.0</version>
   <description>A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.</description>
   <!-- The maintainer listed here is for the ROS release to receive emails for the buildfarm. 
   Please check the repository URL for full list of authors and maintainers. -->

unittest/centroidal.cpp

 //
-// Copyright (c) 2015-2018 CNRS INRIA
+// Copyright (c) 2015-2019 CNRS INRIA
 //
 
-#include "pinocchio/multibody/model.hpp"
-#include "pinocchio/multibody/data.hpp"
 #include "pinocchio/algorithm/crba.hpp"
 #include "pinocchio/algorithm/centroidal.hpp"
 #include "pinocchio/algorithm/rnea.hpp"
 #include "pinocchio/algorithm/jacobian.hpp"
 #include "pinocchio/algorithm/center-of-mass.hpp"
 #include "pinocchio/algorithm/joint-configuration.hpp"
+
 #include "pinocchio/parsers/sample-models.hpp"
+
 #include "pinocchio/utils/timer.hpp"
 
 #include <iostream>
@@ -32,7 +32,7 @@ static void addJointAndBody(pinocchio::Model & model,
   
   Model::JointIndex idx;
   
-  if (setRandomLimits)
+  if(setRandomLimits)
     idx = model.addJoint(model.getJointId(parent_name),joint,
                          SE3::Random(),
                          name + "_joint",
@@ -41,15 +41,15 @@ static void addJointAndBody(pinocchio::Model & model,
                          CV::Random() - CV::Constant(1),
                          CV::Random() + CV::Constant(1)
                          );
-    else
-      idx = model.addJoint(model.getJointId(parent_name),joint,
-                           placement, name + "_joint");
-      
-      model.addJointFrame(idx);
-      
-      model.appendBodyToJoint(idx,Inertia::Random(),SE3::Identity());
-      model.addBodyFrame(name + "_body", idx);
-      }
+  else
+    idx = model.addJoint(model.getJointId(parent_name),joint,
+                         placement, name + "_joint");
+  
+  model.addJointFrame(idx);
+  
+  model.appendBodyToJoint(idx,Inertia::Random(),SE3::Identity());
+  model.addBodyFrame(name + "_body", idx);
+}
 
 BOOST_AUTO_TEST_SUITE( BOOST_TEST_MODULE )
   
@@ -104,7 +104,6 @@ BOOST_AUTO_TEST_CASE (test_dccrb)
   crba(model,data_ref,q);
   data_ref.M.triangularView<Eigen::StrictlyLower>() = data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
   
-  SE3::Vector3 com = data_ref.Ycrb[1].lever();
   SE3 cMo(SE3::Identity());
   cMo.translation() = -getComFromCrba(model, data_ref);
   

unittest/crba.cpp

 //
-// Copyright (c) 2015-2018 CNRS
+// Copyright (c) 2015-2019 CNRS INRIA
 //
 
 /*
@@ -49,15 +49,15 @@ static void addJointAndBody(pinocchio::Model & model,
                          CV::Random() - CV::Constant(1),
                          CV::Random() + CV::Constant(1)
                          );
-    else
-      idx = model.addJoint(model.getJointId(parent_name),joint,
-                           placement, name + "_joint");
-      
-      model.addJointFrame(idx);
-      
-      model.appendBodyToJoint(idx,Inertia::Random(),SE3::Identity());
-      model.addBodyFrame(name + "_body", idx);
-      }
+  else
+    idx = model.addJoint(model.getJointId(parent_name),joint,
+                         placement, name + "_joint");
+  
+  model.addJointFrame(idx);
+  
+  model.appendBodyToJoint(idx,Inertia::Random(),SE3::Identity());
+  model.addBodyFrame(name + "_body", idx);
+}
 
 BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
 

unittest/eigen-tensor.cpp

@@ -14,7 +14,8 @@ BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
 
 BOOST_AUTO_TEST_CASE(test_emulate_tensors)
 {
-  typedef pinocchio::Tensor<double,3> Tensor;
+  typedef double Scalar;
+  typedef pinocchio::Tensor<Scalar,3> Tensor;
   
   const Eigen::DenseIndex x_dim = 6, y_dim = 20, z_dim = 20;
   Tensor tensor1(x_dim,y_dim,z_dim);
@@ -24,9 +25,9 @@ BOOST_AUTO_TEST_CASE(test_emulate_tensors)
   BOOST_CHECK(tensor1.dimension(1) == y_dim);
   BOOST_CHECK(tensor1.dimension(2) == z_dim);
   
-  double * data = tensor1.data();
+  Scalar * data = tensor1.data();
   for(Eigen::DenseIndex k = 0; k < tensor1.size(); ++k)
-    data[k] = k;
+    data[k] = (Scalar)k;
   
   for(Eigen::DenseIndex k = 0; k < z_dim; ++k)
   {
@@ -34,7 +35,7 @@ BOOST_AUTO_TEST_CASE(test_emulate_tensors)
     {
       for(Eigen::DenseIndex i = 0; i < x_dim; ++i)
       {
-        BOOST_CHECK(tensor1(i,j,k) == i + j*x_dim + k*(x_dim*y_dim));
+        BOOST_CHECK(tensor1(i,j,k) == (Scalar)(i + j*x_dim + k*(x_dim*y_dim)));
       }
     }
   }

unittest/python/bindings_model.py

@@ -12,9 +12,13 @@ class TestModel(TestCase):
         import pickle
 
         model = self.model
-        pickle.dump(model, open( "save.p", "wb" ) )
+        filename = "model.pickle"
+        with open(filename, 'wb') as f:
+          pickle.dump(model,f)
       
-        model_copy = pickle.load( open( "save.p", "rb" ) )
+        with open(filename, 'rb') as f:
+          model_copy = pickle.load(f)
+
         self.assertTrue(model == model_copy)
 
 if __name__ == '__main__':