Commit 78db2388 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub

Merge pull request #882 from jcarpent/devel

Improve coverage of Spatial classes
parents 70d2af56 a69f3504
//
// Copyright (c) 2017-2018 CNRS INRIA
// Copyright (c) 2017-2019 CNRS INRIA
//
#ifndef __pinocchio_force_ref_hpp__
......@@ -56,6 +56,8 @@ namespace pinocchio
FORCE_TYPEDEF_TPL(ForceRef);
using Base::operator=;
using Base::operator==;
using Base::operator!=;
ForceRef(typename PINOCCHIO_EIGEN_REF_TYPE(Vector6ArgType) f_like)
: m_ref(f_like)
......
//
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015-2019 CNRS INRIA
// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
......@@ -41,6 +41,7 @@ namespace pinocchio
enum { Options = _Options };
using Base::operator=;
using Base::operator!=;
using Base::linear;
using Base::angular;
......
......@@ -48,7 +48,7 @@ ADD_PINOCCHIO_UNIT_TEST(quaternion)
ADD_PINOCCHIO_UNIT_TEST(rotation)
# Pinocchio features
ADD_PINOCCHIO_UNIT_TEST(tspatial)
ADD_PINOCCHIO_UNIT_TEST(spatial)
ADD_PINOCCHIO_UNIT_TEST(symmetric)
ADD_PINOCCHIO_UNIT_TEST(aba)
ADD_PINOCCHIO_UNIT_TEST(rnea)
......
......@@ -221,7 +221,7 @@ BOOST_AUTO_TEST_CASE(Jexp3_quat_fd)
// Arount zero
w.setZero();
w.fill(1e-4);
w.fill(1e-6);
quaternion::exp3(w,quat);
quaternion::Jexp3CoeffWise(w,Jexp3);
for(int i = 0; i < 3; ++i)
......
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