Commit e4b4f513 authored by Justin Carpentier's avatar Justin Carpentier

test/model: test other signatures of buildReducedModel

parent bb439dde
...@@ -250,7 +250,6 @@ BOOST_AUTO_TEST_CASE(test_buildReducedModel) ...@@ -250,7 +250,6 @@ BOOST_AUTO_TEST_CASE(test_buildReducedModel)
BOOST_CHECK(humanoid_copy_model.names == humanoid_model.names); BOOST_CHECK(humanoid_copy_model.names == humanoid_model.names);
BOOST_CHECK(humanoid_copy_model.joints == humanoid_model.joints); BOOST_CHECK(humanoid_copy_model.joints == humanoid_model.joints);
BOOST_CHECK(humanoid_copy_model.joints == humanoid_model.joints);
BOOST_CHECK(humanoid_copy_model == humanoid_model); BOOST_CHECK(humanoid_copy_model == humanoid_model);
std::vector<JointIndex> joints_to_lock; std::vector<JointIndex> joints_to_lock;
...@@ -263,6 +262,10 @@ BOOST_AUTO_TEST_CASE(test_buildReducedModel) ...@@ -263,6 +262,10 @@ BOOST_AUTO_TEST_CASE(test_buildReducedModel)
BOOST_CHECK(reduced_humanoid_model.njoints == humanoid_model.njoints-(int)joints_to_lock.size()); BOOST_CHECK(reduced_humanoid_model.njoints == humanoid_model.njoints-(int)joints_to_lock.size());
BOOST_CHECK(reduced_humanoid_model != humanoid_model); BOOST_CHECK(reduced_humanoid_model != humanoid_model);
Model reduced_humanoid_model_other_signature;
buildReducedModel(humanoid_model,joints_to_lock,reference_config_humanoid,reduced_humanoid_model_other_signature);
BOOST_CHECK(reduced_humanoid_model == reduced_humanoid_model_other_signature);
// Check that forward kinematics give same results // Check that forward kinematics give same results
Data data(humanoid_model), reduced_data(reduced_humanoid_model); Data data(humanoid_model), reduced_data(reduced_humanoid_model);
Eigen::VectorXd q = reference_config_humanoid; Eigen::VectorXd q = reference_config_humanoid;
......
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