Verified Commit c934bfc0 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

test/serialization: add serialization of bias

parent 0d39a8ed
...@@ -390,6 +390,7 @@ struct TestJointMotion ...@@ -390,6 +390,7 @@ struct TestJointMotion
{ {
typedef typename JointModel::JointDerived JointDerived; typedef typename JointModel::JointDerived JointDerived;
typedef typename pinocchio::traits<JointDerived>::Motion_t Motion; typedef typename pinocchio::traits<JointDerived>::Motion_t Motion;
typedef typename pinocchio::traits<JointDerived>::Bias_t Bias;
typedef typename pinocchio::traits<JointDerived>::JointDataDerived JointData; typedef typename pinocchio::traits<JointDerived>::JointDataDerived JointData;
typedef pinocchio::JointDataBase<JointData> JointDataBase; typedef pinocchio::JointDataBase<JointData> JointDataBase;
JointModel jmodel = init<JointModel>::run(); JointModel jmodel = init<JointModel>::run();
...@@ -410,6 +411,9 @@ struct TestJointMotion ...@@ -410,6 +411,9 @@ struct TestJointMotion
Motion & m = jdata_base.v(); Motion & m = jdata_base.v();
test(m); test(m);
Bias & b = jdata_base.c();
test(b);
} }
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl> template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
...@@ -424,6 +428,7 @@ struct TestJointMotion ...@@ -424,6 +428,7 @@ struct TestJointMotion
typedef pinocchio::JointModelMimic<JointModel> JointModelMimic; typedef pinocchio::JointModelMimic<JointModel> JointModelMimic;
typedef typename JointModelMimic::JointDerived JointDerived; typedef typename JointModelMimic::JointDerived JointDerived;
typedef typename pinocchio::traits<JointDerived>::Motion_t Motion; typedef typename pinocchio::traits<JointDerived>::Motion_t Motion;
typedef typename pinocchio::traits<JointDerived>::Bias_t Bias;
typedef typename pinocchio::traits<JointDerived>::JointDataDerived JointDataMimic; typedef typename pinocchio::traits<JointDerived>::JointDataDerived JointDataMimic;
typedef pinocchio::JointDataBase<JointDataMimic> JointDataBase; typedef pinocchio::JointDataBase<JointDataMimic> JointDataBase;
JointModelMimic jmodel_mimic = init<JointModelMimic>::run(); JointModelMimic jmodel_mimic = init<JointModelMimic>::run();
...@@ -445,6 +450,9 @@ struct TestJointMotion ...@@ -445,6 +450,9 @@ struct TestJointMotion
Motion & m = jdata_mimic_base.v(); Motion & m = jdata_mimic_base.v();
test(m); test(m);
Bias & b = jdata_mimic_base.c();
test(b);
} }
template<typename Motion> template<typename Motion>
......
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