Commit 42140c02 authored by Martin Jansa's avatar Martin Jansa
Browse files

tests/tasks.cpp: use more specific types or namespace to avoid conflicts from libeigen-3.4.0

* generic Vector type was added to libeigen-3.4.0 with:
  https://gitlab.com/libeigen/eigen/-/commit/2a39659d793fcde656593bbf01948bc0bd568181



* fixes:
FAILED: tests/CMakeFiles/tasks.dir/tasks.cpp.o
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot-native/usr/bin/i686-webos-linux/i686-webos-linux-g++ -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DEIGEN_RUNTIME_NO_MALLOC -DPINOCCHIO_WITH_URDFDOM -I/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/build -I/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/build/include -I/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include -isystem /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3 -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion  -m32 -march=core2 -mtune=core2 -msse3 -mfpmath=sse -fstack-protector-strong  -O2 -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fmacro-prefix-map=/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0=/usr/src/debug/tsid/1.6.0-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0=/usr/src/debug/tsid/1.6.0-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot=                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   -m32 -march=core2 -mtune=core2 -msse3 -mfpmath=sse -fstack-protector-strong  -O2 -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot  -DBOOST_TEST_DYN_LINK -DBOOST_TEST_MODULE=tasksTest '-DTSID_SOURCE_DIR="/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git"' -MD -MT tests/CMakeFiles/tasks.dir/tasks.cpp.o -MF tests/CMakeFiles/tasks.dir/tasks.cpp.o.d -o tests/CMakeFiles/tasks.dir/tasks.cpp.o -c /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp: In member function 'void tasksTest::test_task_se3_equality::test_method()':
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:103:5: error: reference to 'Vector' is ambiguous
  103 |     Vector dv = Jpinv * constraint.vector();
      |     ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/Core:295,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/src/Core/Matrix.h:551:7: note: candidates are: 'template<class Type, int Size> using Vector = Eigen::Matrix<Type, Size, 1>'
  551 | using Vector = Matrix<Type, Size, 1>;
      |       ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:37:52: note:                 'typedef class Eigen::Matrix<double, -1, 1> tsid::math::Vector'
   37 |     typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1> Vector;
      |                                                    ^~~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:106:18: error: 'dv' was not declared in this scope; did you mean 'div'?
  106 |     if(!isFinite(dv))
      |                  ^~
      |                  div
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/test_tools.hpp:45,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/unit_test.hpp:18,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:20:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:111:20: error: 'dv' was not declared in this scope; did you mean 'div'?
  111 |     REQUIRE_FINITE(dv.transpose());
      |                    ^~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:111:5: note: in expansion of macro 'REQUIRE_FINITE'
  111 |     REQUIRE_FINITE(dv.transpose());
      |     ^~~~~~~~~~~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:113:13: error: 'dv' was not declared in this scope; did you mean 'div'?
  113 |     v += dt*dv;
      |             ^~
      |             div
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp: In member function 'void tasksTest::test_task_com_equality::test_method()':
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:162:3: error: reference to 'Vector3' is ambiguous
  162 |   Vector3 com_ref = data.com[0] + pinocchio::SE3::Vector3(0.02,0.02,0.02);
      |   ^~~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/Core:295,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/src/Core/Matrix.h:541:1: note: candidates are: 'template<class Type> using Vector3 = Eigen::Matrix<Type, 3, 1>'
  541 | EIGEN_MAKE_TYPEDEFS(3, 3)
      | ^~~~~~~~~~~~~~~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:42:39: note:                 'typedef class Eigen::Matrix<double, 3, 1> tsid::math::Vector3'
   42 |     typedef Eigen::Matrix<Scalar,3,1> Vector3;
      |                                       ^~~~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:163:70: error: 'com_ref' was not declared in this scope
  163 |   TrajectoryBase *traj = new TrajectoryEuclidianConstant("traj_com", com_ref);
      |                                                                      ^~~~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:183:5: error: reference to 'Vector' is ambiguous
  183 |     Vector dv = Jpinv * constraint.vector();
      |     ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/Core:295,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/src/Core/Matrix.h:551:7: note: candidates are: 'template<class Type, int Size> using Vector = Eigen::Matrix<Type, Size, 1>'
  551 | using Vector = Matrix<Type, Size, 1>;
      |       ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:37:52: note:                 'typedef class Eigen::Matrix<double, -1, 1> tsid::math::Vector'
   37 |     typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1> Vector;
      |                                                    ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/test_tools.hpp:45,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/unit_test.hpp:18,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:20:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:186:28: error: 'dv' was not declared in this scope; did you mean 'div'?
  186 |     BOOST_REQUIRE(isFinite(dv));
      |                            ^~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:188:13: error: 'dv' was not declared in this scope; did you mean 'div'?
  188 |     v += dt*dv;
      |             ^~
      |             div
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp: In member function 'void tasksTest::test_task_joint_posture::test_method()':
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:231:3: error: reference to 'Vector' is ambiguous
  231 |   Vector q_ref = Vector::Random(na);
      |   ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/Core:295,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/src/Core/Matrix.h:551:7: note: candidates are: 'template<class Type, int Size> using Vector = Eigen::Matrix<Type, Size, 1>'
  551 | using Vector = Matrix<Type, Size, 1>;
      |       ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:37:52: note:                 'typedef class Eigen::Matrix<double, -1, 1> tsid::math::Vector'
   37 |     typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1> Vector;
      |                                                    ^~~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:232:72: error: 'q_ref' was not declared in this scope
  232 |   TrajectoryBase *traj = new TrajectoryEuclidianConstant("traj_joint", q_ref);
      |                                                                        ^~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:255:5: error: reference to 'Vector' is ambiguous
  255 |     Vector dv = Jpinv * constraint.vector();
      |     ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/Core:295,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/src/Core/Matrix.h:551:7: note: candidates are: 'template<class Type, int Size> using Vector = Eigen::Matrix<Type, Size, 1>'
  551 | using Vector = Matrix<Type, Size, 1>;
      |       ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:37:52: note:                 'typedef class Eigen::Matrix<double, -1, 1> tsid::math::Vector'
   37 |     typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1> Vector;
      |                                                    ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/test_tools.hpp:45,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/unit_test.hpp:18,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:20:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:258:28: error: 'dv' was not declared in this scope; did you mean 'div'?
  258 |     BOOST_REQUIRE(isFinite(dv));
      |                            ^~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:260:13: error: 'dv' was not declared in this scope; did you mean 'div'?
  260 |     v += dt*dv;
      |             ^~
      |             div
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/test_tools.hpp:45,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/unit_test.hpp:18,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:20:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp: In member function 'void tasksTest::test_task_joint_bounds::test_method()':
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:312:34: warning: comparison of integer expressions of different signedness: 'unsigned int' and 'Eigen::Index' {aka 'int'} [-Wsign-compare]
  312 |     BOOST_CHECK(constraint.rows()==(Eigen::Index)robot.nv());
      |                 ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp: In member function 'void tasksTest::test_task_joint_posVelAcc_bounds::test_method()':
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:364:34: warning: comparison of integer expressions of different signedness: 'unsigned int' and 'Eigen::Index' {aka 'int'} [-Wsign-compare]
  364 |     BOOST_CHECK(constraint.rows()==(Eigen::Index)robot.na());
      |                 ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
ninja: build stopped: subcommand failed.
Signed-off-by: default avatarMartin Jansa <martin.jansa@lge.com>
parent 09693289
Pipeline #16197 passed with stage
in 14 minutes and 54 seconds
......@@ -100,7 +100,7 @@ BOOST_AUTO_TEST_CASE ( test_task_se3_equality )
BOOST_REQUIRE(isFinite(constraint.vector()));
pseudoInverse(constraint.matrix(), Jpinv, 1e-4);
Vector dv = Jpinv * constraint.vector();
ConstRefVector dv = Jpinv * constraint.vector();
BOOST_REQUIRE(isFinite(Jpinv));
BOOST_CHECK(MatrixXd::Identity(6,6).isApprox(constraint.matrix()*Jpinv));
if(!isFinite(dv))
......@@ -159,7 +159,7 @@ BOOST_AUTO_TEST_CASE ( test_task_com_equality )
BOOST_CHECK(task.Kp().isApprox(Kp));
BOOST_CHECK(task.Kd().isApprox(Kd));
Vector3 com_ref = data.com[0] + pinocchio::SE3::Vector3(0.02,0.02,0.02);
math::Vector3 com_ref = data.com[0] + pinocchio::SE3::Vector3(0.02,0.02,0.02);
TrajectoryBase *traj = new TrajectoryEuclidianConstant("traj_com", com_ref);
TrajectorySample sample;
......@@ -180,7 +180,7 @@ BOOST_AUTO_TEST_CASE ( test_task_com_equality )
BOOST_REQUIRE(isFinite(constraint.vector()));
pseudoInverse(constraint.matrix(), Jpinv, 1e-5);
Vector dv = Jpinv * constraint.vector();
ConstRefVector dv = Jpinv * constraint.vector();
BOOST_REQUIRE(isFinite(Jpinv));
BOOST_CHECK(MatrixXd::Identity(constraint.rows(),constraint.rows()).isApprox(constraint.matrix()*Jpinv));
BOOST_REQUIRE(isFinite(dv));
......@@ -228,7 +228,7 @@ BOOST_AUTO_TEST_CASE ( test_task_joint_posture )
BOOST_CHECK(task.Kd().isApprox(Kd));
cout<<"Gonna create reference trajectory\n";
Vector q_ref = Vector::Random(na);
ConstRefVector q_ref = math::Vector::Random(na);
TrajectoryBase *traj = new TrajectoryEuclidianConstant("traj_joint", q_ref);
TrajectorySample sample;
......@@ -252,7 +252,7 @@ BOOST_AUTO_TEST_CASE ( test_task_joint_posture )
BOOST_REQUIRE(isFinite(constraint.vector()));
pseudoInverse(constraint.matrix(), Jpinv, 1e-5);
Vector dv = Jpinv * constraint.vector();
ConstRefVector dv = Jpinv * constraint.vector();
BOOST_REQUIRE(isFinite(Jpinv));
BOOST_CHECK(MatrixXd::Identity(na,na).isApprox(constraint.matrix()*Jpinv));
BOOST_REQUIRE(isFinite(dv));
......
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