Commit 849fbd67 authored by jcarpent's avatar jcarpent
Browse files

[All] Uniformize naming

parent a6ec3039
......@@ -137,7 +137,7 @@ namespace tsid
int &rows, int &cols);
template<typename Derived>
inline bool is_finite(const Eigen::MatrixBase<Derived>& x)
inline bool isFinite(const Eigen::MatrixBase<Derived>& x)
{
return ( (x - x).array() == (x - x).array()).all();
}
......
......@@ -34,7 +34,7 @@ using namespace std;
BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(is_finite(A), #A<<": "<<A)
#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(isFinite(A), #A<<": "<<A)
const string romeo_model_path = TSID_SOURCE_DIR"/models/romeo";
......
......@@ -31,7 +31,7 @@
#include <tsid/utils/statistics.hpp>
#define CHECK_LESS_THAN(A,B) BOOST_CHECK_MESSAGE(A<B, #A<<": "<<A<<">"<<B)
#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(is_finite(A), #A<<": "<<A)
#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(isFinite(A), #A<<": "<<A)
BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
......
......@@ -43,7 +43,7 @@ using namespace std;
using namespace Eigen;
using namespace tsid::robots;
#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(is_finite(A), #A<<": "<<A)
#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(isFinite(A), #A<<": "<<A)
const string romeo_model_path = TSID_SOURCE_DIR"/models/romeo";
......@@ -95,13 +95,13 @@ BOOST_AUTO_TEST_CASE ( test_task_se3_equality )
BOOST_CHECK(constraint.rows()==6);
BOOST_CHECK(constraint.cols()==robot.nv());
REQUIRE_FINITE(constraint.matrix());
BOOST_REQUIRE(is_finite(constraint.vector()));
BOOST_REQUIRE(isFinite(constraint.vector()));
pseudoInverse(constraint.matrix(), Jpinv, 1e-4);
Vector dv = Jpinv * constraint.vector();
BOOST_REQUIRE(is_finite(Jpinv));
BOOST_REQUIRE(isFinite(Jpinv));
BOOST_CHECK(MatrixXd::Identity(6,6).isApprox(constraint.matrix()*Jpinv));
if(!is_finite(dv))
if(!isFinite(dv))
{
cout<< "Jpinv" << Jpinv.transpose() <<endl;
cout<< "b" << constraint.vector().transpose() <<endl;
......@@ -110,12 +110,12 @@ BOOST_AUTO_TEST_CASE ( test_task_se3_equality )
v += dt*dv;
q = se3::integrate(robot.model(), q, dt*v);
BOOST_REQUIRE(is_finite(v));
BOOST_REQUIRE(is_finite(q));
BOOST_REQUIRE(isFinite(v));
BOOST_REQUIRE(isFinite(q));
t += dt;
error = task.position_error().norm();
BOOST_REQUIRE(is_finite(task.position_error()));
BOOST_REQUIRE(isFinite(task.position_error()));
BOOST_CHECK(error <= error_past);
error_past = error;
......@@ -173,23 +173,23 @@ BOOST_AUTO_TEST_CASE ( test_task_com_equality )
const ConstraintBase & constraint = task.compute(t, q, v, data);
BOOST_CHECK(constraint.rows()==3);
BOOST_CHECK(constraint.cols()==robot.nv());
BOOST_REQUIRE(is_finite(constraint.matrix()));
BOOST_REQUIRE(is_finite(constraint.vector()));
BOOST_REQUIRE(isFinite(constraint.matrix()));
BOOST_REQUIRE(isFinite(constraint.vector()));
pseudoInverse(constraint.matrix(), Jpinv, 1e-5);
Vector dv = Jpinv * constraint.vector();
BOOST_REQUIRE(is_finite(Jpinv));
BOOST_REQUIRE(isFinite(Jpinv));
BOOST_CHECK(MatrixXd::Identity(constraint.rows(),constraint.rows()).isApprox(constraint.matrix()*Jpinv));
BOOST_REQUIRE(is_finite(dv));
BOOST_REQUIRE(isFinite(dv));
v += dt*dv;
q = se3::integrate(robot.model(), q, dt*v);
BOOST_REQUIRE(is_finite(v));
BOOST_REQUIRE(is_finite(q));
BOOST_REQUIRE(isFinite(v));
BOOST_REQUIRE(isFinite(q));
t += dt;
error = task.position_error().norm();
BOOST_REQUIRE(is_finite(task.position_error()));
BOOST_REQUIRE(isFinite(task.position_error()));
BOOST_CHECK((error - error_past) <= 1e-4);
error_past = error;
......@@ -245,23 +245,23 @@ BOOST_AUTO_TEST_CASE ( test_task_joint_posture )
const ConstraintBase & constraint = task.compute(t, q, v, data);
BOOST_CHECK(constraint.rows()==na);
BOOST_CHECK(constraint.cols()==robot.nv());
BOOST_REQUIRE(is_finite(constraint.matrix()));
BOOST_REQUIRE(is_finite(constraint.vector()));
BOOST_REQUIRE(isFinite(constraint.matrix()));
BOOST_REQUIRE(isFinite(constraint.vector()));
pseudoInverse(constraint.matrix(), Jpinv, 1e-5);
Vector dv = Jpinv * constraint.vector();
BOOST_REQUIRE(is_finite(Jpinv));
BOOST_REQUIRE(isFinite(Jpinv));
BOOST_CHECK(MatrixXd::Identity(na,na).isApprox(constraint.matrix()*Jpinv));
BOOST_REQUIRE(is_finite(dv));
BOOST_REQUIRE(isFinite(dv));
v += dt*dv;
q = se3::integrate(robot.model(), q, dt*v);
BOOST_REQUIRE(is_finite(v));
BOOST_REQUIRE(is_finite(q));
BOOST_REQUIRE(isFinite(v));
BOOST_REQUIRE(isFinite(q));
t += dt;
error = task.position_error().norm();
BOOST_REQUIRE(is_finite(task.position_error()));
BOOST_REQUIRE(isFinite(task.position_error()));
BOOST_CHECK(error <= error_past);
error_past = error;
......
......@@ -45,7 +45,7 @@ using namespace tsid::robots;
using namespace std;
#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(is_finite(A), #A<<": "<<A)
#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(isFinite(A), #A<<": "<<A)
#define CHECK_LESS_THAN(A,B) BOOST_CHECK_MESSAGE(A<B, #A<<": "<<A<<">"<<B)
#define REQUIRE_TASK_FINITE(task) REQUIRE_FINITE(task.getConstraint().matrix()); \
......
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