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pinocchio
Commits
bb659faf
Commit
bb659faf
authored
9 years ago
by
olivier stasse
Committed by
Valenza Florian
9 years ago
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[unittest] Forces INTENSE_TESTING flag to have 1000 000 tests.
Necessary to avoid travis time out trigger.
parent
d7c3c0a9
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unittest/com.cpp
+5
-0
5 additions, 0 deletions
unittest/com.cpp
unittest/jacobian.cpp
+6
-0
6 additions, 0 deletions
unittest/jacobian.cpp
with
11 additions
and
0 deletions
unittest/com.cpp
+
5
−
0
View file @
bb659faf
...
...
@@ -17,7 +17,12 @@ void timings(const se3::Model & model, se3::Data& data, long flag)
using
namespace
se3
;
StackTicToc
timer
(
StackTicToc
::
US
);
#ifdef NDEBUG
#ifdef _INTENSE_TESTING_
const
int
NBT
=
1000
*
1000
;
#else
const
int
NBT
=
10
;
#endif
#else
const
int
NBT
=
1
;
std
::
cout
<<
"(the time score in debug mode is not relevant) "
;
...
...
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Click to expand it.
unittest/jacobian.cpp
+
6
−
0
View file @
bb659faf
...
...
@@ -13,7 +13,12 @@ void timings(const se3::Model & model, se3::Data& data, long flag)
using
namespace
se3
;
StackTicToc
timer
(
StackTicToc
::
US
);
#ifdef NDEBUG
#ifdef _INTENSE_TESTING_
const
int
NBT
=
1000
*
1000
;
#else
const
int
NBT
=
10
;
#endif
#else
const
int
NBT
=
1
;
std
::
cout
<<
"(the time score in debug mode is not relevant) "
;
...
...
@@ -95,6 +100,7 @@ void assertValues(const se3::Model & model, se3::Data& data)
rnea
(
model
,
data
,
q
,
qdot
,
qddot
);
Motion
v
=
data
.
oMi
[
idx
].
act
(
data
.
v
[
idx
]
);
assert
(
v
.
toVector
().
isApprox
(
Jrh
*
qdot
));
v
.
toVector
().
isApprox
(
Jrh
*
qdot
);
}
{
/* Test local jacobian: rhJrh == rhXo oJrh */
...
...
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