Unverified Commit f9415524 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
Browse files

Merge pull request #560 from jcarpent/devel

Remove warnings
parents f3a6481e 082752fe
......@@ -51,7 +51,7 @@ int main(int argc, const char ** argv)
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
if(argc>1) filename = argv[1];
if( filename == "HS")
se3::buildModels::humanoidSimple(model,true);
se3::buildModels::humanoidRandom(model,true);
else if( filename == "H2" )
se3::buildModels::humanoid2d(model);
else
......
......@@ -151,7 +151,7 @@ int main(int argc, const char ** argv)
}
if( filename == "HS")
buildModels::humanoidSimple(model,true);
buildModels::humanoidRandom(model,true);
else if( filename == "H2" )
buildModels::humanoid2d(model);
else
......
......@@ -57,7 +57,7 @@ int main(int argc, const char ** argv)
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
if(argc>1) filename = argv[1];
if( filename == "HS")
se3::buildModels::humanoidSimple(model,true);
se3::buildModels::humanoidRandom(model,true);
else if( filename == "H2" )
se3::buildModels::humanoid2d(model);
else
......
//
// Copyright (c) 2015-2016 CNRS
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
// This file is part of Pinocchio
......@@ -142,8 +142,8 @@ namespace se3
const SE3 & Mroot = SE3::Identity(),
const std::string& pre = "")
{
typedef typename JointModelRX::ConfigVector_t CV;
typedef typename JointModelRX::TangentVector_t TV;
typedef JointModelRX::ConfigVector_t CV;
typedef JointModelRX::TangentVector_t TV;
Model::JointIndex idx = rootJoint;
......@@ -244,8 +244,8 @@ namespace se3
void humanoid(Model & model, bool usingFF)
{
using namespace Eigen;
typedef typename JointModelRX::ConfigVector_t CV;
typedef typename JointModelRX::TangentVector_t TV;
typedef JointModelRX::ConfigVector_t CV;
typedef JointModelRX::TangentVector_t TV;
Model::JointIndex idx,chest,ffidx;
......
......@@ -41,7 +41,7 @@ BOOST_AUTO_TEST_CASE(test_aba)
using namespace se3;
Model model;
buildModels::humanoidSimple(model);
buildModels::humanoidRandom(model);
Data data(model), data_ref(model);
......@@ -139,7 +139,7 @@ BOOST_AUTO_TEST_CASE(test_aba_minimal_argument)
using namespace se3;
Model model;
buildModels::humanoidSimple(model);
buildModels::humanoidRandom(model);
Data data(model), data_ref(model);
......
......@@ -141,7 +141,7 @@ BOOST_AUTO_TEST_CASE ( test_aba_simple )
using namespace Eigen;
using namespace se3;
se3::Model model; buildModels::humanoidSimple(model);
se3::Model model; buildModels::humanoidRandom(model);
se3::Data data(model);
se3::Data data_ref(model);
......@@ -167,7 +167,7 @@ BOOST_AUTO_TEST_CASE ( test_aba_with_fext )
using namespace Eigen;
using namespace se3;
se3::Model model; buildModels::humanoidSimple(model);
se3::Model model; buildModels::humanoidRandom(model);
se3::Data data(model);
......@@ -202,7 +202,7 @@ BOOST_AUTO_TEST_CASE ( test_aba_vs_rnea )
using namespace Eigen;
using namespace se3;
se3::Model model; buildModels::humanoidSimple(model);
se3::Model model; buildModels::humanoidRandom(model);
se3::Data data(model);
se3::Data data_ref(model);
......@@ -234,7 +234,7 @@ BOOST_AUTO_TEST_CASE ( test_computeMinverse )
using namespace se3;
se3::Model model;
buildModels::humanoidSimple(model);
buildModels::humanoidRandom(model);
model.gravity.setZero();
se3::Data data(model);
......
......@@ -42,7 +42,7 @@ BOOST_AUTO_TEST_CASE ( test_check )
{
using namespace boost::fusion;
se3::Model model; buildModels::humanoidSimple(model);
se3::Model model; buildModels::humanoidRandom(model);
BOOST_CHECK(model.check (Check1()));
BOOST_CHECK(model.check (CRBAChecker()));
......
......@@ -69,7 +69,7 @@ BOOST_AUTO_TEST_SUITE( BOOST_TEST_MODULE )
BOOST_AUTO_TEST_CASE (test_ccrba)
{
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
se3::Data data(model), data_ref(model);
Eigen::VectorXd q = Eigen::VectorXd::Ones(model.nq);
......@@ -100,7 +100,7 @@ BOOST_AUTO_TEST_CASE (test_dccrb)
{
using namespace se3;
Model model;
buildModels::humanoidSimple(model);
buildModels::humanoidRandom(model);
addJointAndBody(model,JointModelSpherical(),"larm6_joint","larm7");
Data data(model), data_ref(model);
......
......@@ -48,7 +48,7 @@ BOOST_AUTO_TEST_CASE ( test_cholesky )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model,true);
se3::buildModels::humanoidRandom(model,true);
se3::Data data(model);
model.lowerPositionLimit.head<3>().fill(-1.);
......@@ -113,7 +113,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model,true);
se3::buildModels::humanoidRandom(model,true);
se3::Data data(model);
model.lowerPositionLimit.head<3>().fill(-1.);
......@@ -234,7 +234,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model,true);
se3::buildModels::humanoidRandom(model,true);
se3::Data data(model);
model.lowerPositionLimit.head<3>().fill(-1.);
......
......@@ -37,7 +37,7 @@ BOOST_AUTO_TEST_CASE ( test_com )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
se3::Data data(model);
VectorXd q = VectorXd::Ones(model.nq);
......@@ -96,7 +96,7 @@ BOOST_AUTO_TEST_CASE ( test_com )
// using namespace se3;
//
// se3::Model model;
// se3::buildModels::humanoidSimple(model);
// se3::buildModels::humanoidRandom(model);
// se3::Data data(model);
//
// long flag = BOOST_BINARY(1111);
......
......@@ -45,7 +45,7 @@ BOOST_AUTO_TEST_CASE ( test_against_algo )
using namespace Eigen;
using namespace se3;
se3::Model model; buildModels::humanoidSimple(model);
se3::Model model; buildModels::humanoidRandom(model);
se3::Data data(model); data.M.fill (0.);
se3::Data data_other(model); data_other.M.fill (0.);
......
......@@ -77,7 +77,7 @@ BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
BOOST_AUTO_TEST_CASE ( test_crba )
{
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
se3::Data data(model);
#ifdef NDEBUG
......@@ -138,7 +138,7 @@ BOOST_AUTO_TEST_CASE ( test_crba )
BOOST_AUTO_TEST_CASE(test_minimal_crba)
{
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
se3::Data data(model), data_ref(model);
model.lowerPositionLimit.head<7>().fill(-1.);
......
......@@ -36,7 +36,7 @@ BOOST_AUTO_TEST_CASE ( test_FD )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model,true);
se3::buildModels::humanoidRandom(model,true);
se3::Data data(model);
VectorXd q = VectorXd::Ones(model.nq);
......@@ -100,7 +100,7 @@ BOOST_AUTO_TEST_CASE ( test_FD_with_damping )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model,true);
se3::buildModels::humanoidRandom(model,true);
se3::Data data(model);
VectorXd q = VectorXd::Ones(model.nq);
......@@ -155,7 +155,7 @@ BOOST_AUTO_TEST_CASE ( test_ID )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model,true);
se3::buildModels::humanoidRandom(model,true);
se3::Data data(model);
VectorXd q = VectorXd::Ones(model.nq);
......@@ -214,7 +214,7 @@ BOOST_AUTO_TEST_CASE (timings_fd_llt)
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model,true);
se3::buildModels::humanoidRandom(model,true);
se3::Data data(model);
#ifdef NDEBUG
......
......@@ -32,7 +32,7 @@ BOOST_AUTO_TEST_CASE(test_kinetic_energy)
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
se3::Data data(model);
VectorXd q = VectorXd::Zero(model.nq);
......
......@@ -186,7 +186,7 @@ BOOST_AUTO_TEST_CASE(increment)
typedef double Scalar;
Model model;
buildModels::humanoidSimple(model);
buildModels::humanoidRandom(model);
VectorXd fd_increment(model.nv);
fd_increment = finiteDifferenceIncrement(model);
......@@ -206,7 +206,7 @@ BOOST_AUTO_TEST_CASE (test_S_finit_diff)
BOOST_AUTO_TEST_CASE (test_jacobian_vs_finit_diff)
{
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
se3::Data data(model);
const VectorXd fd_increment = finiteDifferenceIncrement(model);
......
......@@ -45,7 +45,7 @@ BOOST_AUTO_TEST_CASE ( test_kinematics )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
const SE3 & framePlacement = SE3::Random();
......@@ -66,7 +66,7 @@ BOOST_AUTO_TEST_CASE ( test_update_placements )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
const SE3 & framePlacement = SE3::Random();
......@@ -92,7 +92,7 @@ BOOST_AUTO_TEST_CASE ( test_update_single_placement )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
const SE3 & framePlacement = SE3::Random();
......@@ -118,7 +118,7 @@ BOOST_AUTO_TEST_CASE ( test_velocity )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
const SE3 & framePlacement = SE3::Random();
......@@ -143,7 +143,7 @@ BOOST_AUTO_TEST_CASE ( test_acceleration )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
const SE3 & framePlacement = SE3::Random();
......@@ -169,7 +169,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
using namespace se3;
Model model;
buildModels::humanoidSimple(model);
buildModels::humanoidRandom(model);
Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
const SE3 & framePlacement = SE3::Random();
......@@ -212,7 +212,7 @@ BOOST_AUTO_TEST_CASE ( test_frame_jacobian_time_variation )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
const SE3 & framePlacement = SE3::Random();
......
......@@ -44,7 +44,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
se3::Data data(model);
VectorXd q = VectorXd::Zero(model.nq);
......@@ -87,7 +87,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian_time_variation )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
se3::Data data(model);
se3::Data data_ref(model);
......@@ -162,7 +162,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
using namespace se3;
se3::Model model;
se3::buildModels::humanoidSimple(model);
se3::buildModels::humanoidRandom(model);
se3::Data data(model);
long flag = BOOST_BINARY(1111);
......
......@@ -36,7 +36,7 @@ BOOST_AUTO_TEST_CASE(test_kinematics_derivatives_all)
using namespace se3;
Model model;
buildModels::humanoidSimple(model);
buildModels::humanoidRandom(model);
Data data(model), data_ref(model);
......@@ -71,7 +71,7 @@ BOOST_AUTO_TEST_CASE(test_kinematics_derivatives_velocity)
using namespace se3;
Model model;
buildModels::humanoidSimple(model);
buildModels::humanoidRandom(model);
Data data(model), data_ref(model);
......@@ -167,7 +167,7 @@ BOOST_AUTO_TEST_CASE(test_kinematics_derivatives_acceleration)
using namespace se3;
Model model;
buildModels::humanoidSimple(model);
buildModels::humanoidRandom(model);
Data data(model), data_ref(model);
......
......@@ -29,7 +29,7 @@ BOOST_AUTO_TEST_CASE(test_model_subtree)
{
Model model;
std::cout << "build model" << std::endl;
buildModels::humanoidSimple(model);
buildModels::humanoidRandom(model);
Model::JointIndex idx_larm1 = model.getJointId("larm1_joint");
BOOST_CHECK(idx_larm1<(Model::JointIndex)model.njoints);
......
......@@ -33,7 +33,7 @@ BOOST_AUTO_TEST_CASE(test_static_regressor)
using namespace Eigen;
using namespace se3;
se3::Model model; buildModels::humanoidSimple(model);
se3::Model model; buildModels::humanoidRandom(model);
se3::Data data(model);
se3::Data data_ref(model);
......
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