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pinocchio
Commits
c934bfc0
Verified
Commit
c934bfc0
authored
Dec 17, 2019
by
Justin Carpentier
Browse files
test/serialization: add serialization of bias
parent
0d39a8ed
Changes
1
Show whitespace changes
Inline
Side-by-side
unittest/serialization.cpp
View file @
c934bfc0
...
...
@@ -390,6 +390,7 @@ struct TestJointMotion
{
typedef
typename
JointModel
::
JointDerived
JointDerived
;
typedef
typename
pinocchio
::
traits
<
JointDerived
>::
Motion_t
Motion
;
typedef
typename
pinocchio
::
traits
<
JointDerived
>::
Bias_t
Bias
;
typedef
typename
pinocchio
::
traits
<
JointDerived
>::
JointDataDerived
JointData
;
typedef
pinocchio
::
JointDataBase
<
JointData
>
JointDataBase
;
JointModel
jmodel
=
init
<
JointModel
>::
run
();
...
...
@@ -410,6 +411,9 @@ struct TestJointMotion
Motion
&
m
=
jdata_base
.
v
();
test
(
m
);
Bias
&
b
=
jdata_base
.
c
();
test
(
b
);
}
template
<
typename
Scalar
,
int
Options
,
template
<
typename
S
,
int
O
>
class
JointCollectionTpl
>
...
...
@@ -424,6 +428,7 @@ struct TestJointMotion
typedef
pinocchio
::
JointModelMimic
<
JointModel
>
JointModelMimic
;
typedef
typename
JointModelMimic
::
JointDerived
JointDerived
;
typedef
typename
pinocchio
::
traits
<
JointDerived
>::
Motion_t
Motion
;
typedef
typename
pinocchio
::
traits
<
JointDerived
>::
Bias_t
Bias
;
typedef
typename
pinocchio
::
traits
<
JointDerived
>::
JointDataDerived
JointDataMimic
;
typedef
pinocchio
::
JointDataBase
<
JointDataMimic
>
JointDataBase
;
JointModelMimic
jmodel_mimic
=
init
<
JointModelMimic
>::
run
();
...
...
@@ -445,6 +450,9 @@ struct TestJointMotion
Motion
&
m
=
jdata_mimic_base
.
v
();
test
(
m
);
Bias
&
b
=
jdata_mimic_base
.
c
();
test
(
b
);
}
template
<
typename
Motion
>
...
...
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