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Stack Of Tasks
tsid
Commits
ad01f030
Unverified
Commit
ad01f030
authored
Sep 29, 2021
by
Guilhem Saurel
Committed by
GitHub
Sep 29, 2021
Browse files
Merge pull request #144 from shr-project/jansa/libeigen-3.4.0
tests/tasks.cpp: use more specific types or namespace to avoid confli…
parents
bce8eb8b
42140c02
Pipeline
#16199
passed with stage
in 15 minutes and 51 seconds
Changes
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Side-by-side
tests/tasks.cpp
View file @
ad01f030
...
...
@@ -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
();
ConstRef
Vector
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
();
ConstRef
Vector
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
);
ConstRef
Vector
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
();
ConstRef
Vector
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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