Verified Commit be0cdfa8 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

test: add test for new sig buildReducedModel

parent adef26a7
Pipeline #13972 passed with stage
in 166 minutes and 57 seconds
......@@ -494,6 +494,22 @@ BOOST_AUTO_TEST_CASE(test_buildReducedModel_with_geom)
{
BOOST_CHECK(geom_data.oMg[i].isApprox(reduded_geom_data.oMg[i]));
}
// Test other signature
std::vector<GeometryModel> full_geometry_models;
full_geometry_models.push_back(humanoid_geometry);
full_geometry_models.push_back(humanoid_geometry);
full_geometry_models.push_back(humanoid_geometry);
std::vector<GeometryModel> reduced_geometry_models;
Model reduced_humanoid_model_other_sig;
buildReducedModel(humanoid_model,full_geometry_models,joints_to_lock,
reference_config_humanoid,reduced_humanoid_model_other_sig,reduced_geometry_models);
BOOST_CHECK(reduced_geometry_models[0] == reduced_humanoid_geometry);
BOOST_CHECK(reduced_geometry_models[1] == reduced_humanoid_geometry);
BOOST_CHECK(reduced_geometry_models[2] == reduced_humanoid_geometry);
}
#endif // PINOCCHIO_WITH_HPP_FCL
......
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