Commit eae7000a authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[unittest] Improve tests for isNormalized

parent 9435377b
Pipeline #11788 passed with stage
in 270 minutes and 54 seconds
......@@ -369,17 +369,22 @@ BOOST_AUTO_TEST_CASE ( is_normalized_test )
Eigen::VectorXd q;
q = Eigen::VectorXd::Ones(model.nq);
BOOST_CHECK(!pinocchio::isNormalized(model, q));
BOOST_CHECK(!pinocchio::isNormalized(model, q, 1e-8));
BOOST_CHECK(pinocchio::isNormalized(model, q, 1e2));
pinocchio::normalize(model, q);
BOOST_CHECK(pinocchio::isNormalized(model, q));
BOOST_CHECK(pinocchio::isNormalized(model, q, 1e-8));
q = pinocchio::neutral(model);
BOOST_CHECK(pinocchio::isNormalized(model, q));
BOOST_CHECK(pinocchio::isNormalized(model, q, 1e-8));
model.lowerPositionLimit = -1 * Eigen::VectorXd::Ones(model.nq);
model.upperPositionLimit = Eigen::VectorXd::Ones(model.nq);
q = pinocchio::randomConfiguration(model);
BOOST_CHECK(pinocchio::isNormalized(model, q));
BOOST_CHECK(pinocchio::isNormalized(model, q, 1e-8));
}
BOOST_AUTO_TEST_CASE ( integrateCoeffWiseJacobian_test )
......
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