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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, University of Edinburgh, University of Oxford, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#define BOOST_TEST_NO_MAIN |
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#define BOOST_TEST_ALTERNATIVE_INIT_API |
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#include <pinocchio/math/quaternion.hpp> |
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#include "crocoddyl/core/activations/quadratic-barrier.hpp" |
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#include "crocoddyl/multibody/cop-support.hpp" |
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#include "crocoddyl/multibody/friction-cone.hpp" |
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#include "crocoddyl/multibody/wrench-cone.hpp" |
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#include "unittest_common.hpp" |
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using namespace boost::unit_test; |
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using namespace crocoddyl::unittest; |
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void test_constructor() { |
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// Common parameters |
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double mu = random_real_in_range(0.01, 1.); |
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Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1), |
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random_real_in_range(0.01, 0.1)); |
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std::size_t nf = 2 * random_int_in_range(2, 16); |
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bool inner_appr = false; |
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// No rotation |
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Eigen::Matrix3d R = Eigen::Matrix3d::Identity(); |
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// Create the wrench cone |
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crocoddyl::WrenchCone cone(R, mu, box, nf, inner_appr); |
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crocoddyl::WrenchCone casted_cone = cone.cast<double>(); |
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BOOST_CHECK(cone.get_R().isApprox(R)); |
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BOOST_CHECK(cone.get_mu() == mu); |
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BOOST_CHECK(cone.get_nf() == nf); |
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BOOST_CHECK(cone.get_box().isApprox(box)); |
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BOOST_CHECK(cone.get_inner_appr() == inner_appr); |
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BOOST_CHECK(static_cast<std::size_t>(cone.get_A().rows()) == nf + 13); |
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BOOST_CHECK(static_cast<std::size_t>(cone.get_lb().size()) == nf + 13); |
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BOOST_CHECK(static_cast<std::size_t>(cone.get_ub().size()) == nf + 13); |
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// Checking that casted computation is the same |
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BOOST_CHECK(casted_cone.get_R().isApprox(R)); |
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BOOST_CHECK(casted_cone.get_mu() == mu); |
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BOOST_CHECK(casted_cone.get_nf() == nf); |
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BOOST_CHECK(casted_cone.get_box().isApprox(box)); |
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BOOST_CHECK(casted_cone.get_inner_appr() == inner_appr); |
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BOOST_CHECK(static_cast<std::size_t>(casted_cone.get_A().rows()) == nf + 13); |
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BOOST_CHECK(static_cast<std::size_t>(casted_cone.get_lb().size()) == nf + 13); |
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BOOST_CHECK(static_cast<std::size_t>(casted_cone.get_ub().size()) == nf + 13); |
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// With rotation |
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Eigen::Quaterniond q; |
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pinocchio::quaternion::uniformRandom(q); |
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R = q.toRotationMatrix(); |
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// Create the wrench cone |
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cone = crocoddyl::WrenchCone(R, mu, box, nf, inner_appr); |
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casted_cone = cone.cast<double>(); |
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BOOST_CHECK(cone.get_R().isApprox(R)); |
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BOOST_CHECK(cone.get_mu() == mu); |
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BOOST_CHECK(cone.get_nf() == nf); |
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BOOST_CHECK(cone.get_box().isApprox(box)); |
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BOOST_CHECK(cone.get_inner_appr() == inner_appr); |
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BOOST_CHECK(static_cast<std::size_t>(cone.get_A().rows()) == nf + 13); |
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BOOST_CHECK(static_cast<std::size_t>(cone.get_lb().size()) == nf + 13); |
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BOOST_CHECK(static_cast<std::size_t>(cone.get_ub().size()) == nf + 13); |
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// Checking that casted computation is the same |
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BOOST_CHECK(casted_cone.get_R().isApprox(R)); |
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BOOST_CHECK(casted_cone.get_mu() == mu); |
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BOOST_CHECK(casted_cone.get_nf() == nf); |
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BOOST_CHECK(casted_cone.get_box().isApprox(box)); |
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BOOST_CHECK(casted_cone.get_inner_appr() == inner_appr); |
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BOOST_CHECK(static_cast<std::size_t>(casted_cone.get_A().rows()) == nf + 13); |
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BOOST_CHECK(static_cast<std::size_t>(casted_cone.get_lb().size()) == nf + 13); |
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BOOST_CHECK(static_cast<std::size_t>(casted_cone.get_ub().size()) == nf + 13); |
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// Create the wrench cone from a reference |
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{ |
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crocoddyl::WrenchCone cone_reference(cone); |
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casted_cone = cone_reference.cast<double>(); |
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BOOST_CHECK(cone.get_nf() == cone_reference.get_nf()); |
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BOOST_CHECK(cone.get_A().isApprox(cone_reference.get_A())); |
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for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size()); |
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++i) { |
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BOOST_CHECK(cone.get_ub()[i] == cone_reference.get_ub()[i]); |
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BOOST_CHECK(cone.get_lb()[i] == cone_reference.get_lb()[i]); |
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} |
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BOOST_CHECK(cone.get_R().isApprox(cone_reference.get_R())); |
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BOOST_CHECK(cone.get_box().isApprox(cone_reference.get_box())); |
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BOOST_CHECK(std::abs(cone.get_mu() - cone_reference.get_mu()) < 1e-9); |
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BOOST_CHECK(cone.get_inner_appr() == cone_reference.get_inner_appr()); |
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BOOST_CHECK(std::abs(cone.get_min_nforce() - |
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cone_reference.get_min_nforce()) < 1e-9); |
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BOOST_CHECK(cone.get_max_nforce() == cone_reference.get_max_nforce()); |
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// Checking that casted computation is the same |
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BOOST_CHECK(casted_cone.get_nf() == cone_reference.get_nf()); |
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BOOST_CHECK(casted_cone.get_A().isApprox(cone_reference.get_A())); |
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for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size()); |
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++i) { |
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BOOST_CHECK(casted_cone.get_ub()[i] == cone_reference.get_ub()[i]); |
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BOOST_CHECK(casted_cone.get_lb()[i] == cone_reference.get_lb()[i]); |
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} |
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BOOST_CHECK(casted_cone.get_R().isApprox(cone_reference.get_R())); |
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BOOST_CHECK(casted_cone.get_box().isApprox(cone_reference.get_box())); |
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BOOST_CHECK(std::abs(casted_cone.get_mu() - cone_reference.get_mu()) < |
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1e-9); |
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BOOST_CHECK(casted_cone.get_inner_appr() == |
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cone_reference.get_inner_appr()); |
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BOOST_CHECK(std::abs(casted_cone.get_min_nforce() - |
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cone_reference.get_min_nforce()) < 1e-9); |
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BOOST_CHECK(casted_cone.get_max_nforce() == |
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cone_reference.get_max_nforce()); |
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} |
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// Create the wrench cone through the copy operator |
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{ |
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crocoddyl::WrenchCone cone_copy; |
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cone_copy = cone; |
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casted_cone = cone_copy.cast<double>(); |
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BOOST_CHECK(cone.get_nf() == cone_copy.get_nf()); |
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BOOST_CHECK(cone.get_A().isApprox(cone_copy.get_A())); |
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for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size()); |
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++i) { |
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BOOST_CHECK(cone.get_ub()[i] == cone_copy.get_ub()[i]); |
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BOOST_CHECK(cone.get_lb()[i] == cone_copy.get_lb()[i]); |
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} |
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BOOST_CHECK(cone.get_R().isApprox(cone_copy.get_R())); |
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BOOST_CHECK(cone.get_box().isApprox(cone_copy.get_box())); |
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BOOST_CHECK(std::abs(cone.get_mu() - cone_copy.get_mu()) < 1e-9); |
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BOOST_CHECK(cone.get_inner_appr() == cone_copy.get_inner_appr()); |
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BOOST_CHECK(std::abs(cone.get_min_nforce() - cone_copy.get_min_nforce()) < |
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1e-9); |
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BOOST_CHECK(cone.get_max_nforce() == cone_copy.get_max_nforce()); |
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// Checking that casted computation is the same |
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BOOST_CHECK(casted_cone.get_nf() == cone_copy.get_nf()); |
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BOOST_CHECK(casted_cone.get_A().isApprox(cone_copy.get_A())); |
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for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size()); |
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++i) { |
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BOOST_CHECK(casted_cone.get_ub()[i] == cone_copy.get_ub()[i]); |
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BOOST_CHECK(casted_cone.get_lb()[i] == cone_copy.get_lb()[i]); |
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} |
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BOOST_CHECK(casted_cone.get_R().isApprox(cone_copy.get_R())); |
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BOOST_CHECK(casted_cone.get_box().isApprox(cone_copy.get_box())); |
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BOOST_CHECK(std::abs(casted_cone.get_mu() - cone_copy.get_mu()) < 1e-9); |
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BOOST_CHECK(casted_cone.get_inner_appr() == cone_copy.get_inner_appr()); |
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BOOST_CHECK(std::abs(casted_cone.get_min_nforce() - |
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cone_copy.get_min_nforce()) < 1e-9); |
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BOOST_CHECK(casted_cone.get_max_nforce() == cone_copy.get_max_nforce()); |
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} |
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} |
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void test_against_friction_cone() { |
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// Common parameters |
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Eigen::Quaterniond q; |
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pinocchio::quaternion::uniformRandom(q); |
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Eigen::Matrix3d R = q.toRotationMatrix(); |
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double mu = random_real_in_range(0.01, 1.); |
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Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1), |
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random_real_in_range(0.01, 0.1)); |
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std::size_t nf = 2 * random_int_in_range(2, 16); |
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bool inner_appr = true; |
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// Create wrench and friction cone |
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crocoddyl::WrenchCone wrench_cone(R, mu, box, nf, inner_appr, 0., 100.); |
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crocoddyl::FrictionCone friction_cone(R, mu, nf, inner_appr, 0., 100.); |
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crocoddyl::WrenchCone casted_wrench_cone = wrench_cone.cast<double>(); |
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BOOST_CHECK((wrench_cone.get_R() - friction_cone.get_R()).isZero(1e-9)); |
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BOOST_CHECK(wrench_cone.get_mu() == friction_cone.get_mu()); |
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BOOST_CHECK(wrench_cone.get_nf() == friction_cone.get_nf()); |
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for (std::size_t i = 0; i < nf + 1; ++i) { |
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for (std::size_t j = 0; j < 3; ++j) { |
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BOOST_CHECK(wrench_cone.get_A().row(i)[j] == |
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friction_cone.get_A().row(i)[j]); |
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} |
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} |
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for (std::size_t i = 0; i < nf + 1; ++i) { |
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BOOST_CHECK(wrench_cone.get_ub()[i] == friction_cone.get_ub()[i]); |
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BOOST_CHECK(wrench_cone.get_lb()[i] == friction_cone.get_lb()[i]); |
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} |
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// Checking that casted computation is the same |
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BOOST_CHECK( |
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(casted_wrench_cone.get_R() - friction_cone.get_R()).isZero(1e-9)); |
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BOOST_CHECK(casted_wrench_cone.get_mu() == friction_cone.get_mu()); |
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BOOST_CHECK(casted_wrench_cone.get_nf() == friction_cone.get_nf()); |
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for (std::size_t i = 0; i < nf + 1; ++i) { |
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for (std::size_t j = 0; j < 3; ++j) { |
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BOOST_CHECK(casted_wrench_cone.get_A().row(i)[j] == |
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friction_cone.get_A().row(i)[j]); |
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} |
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} |
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for (std::size_t i = 0; i < nf + 1; ++i) { |
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BOOST_CHECK(casted_wrench_cone.get_ub()[i] == friction_cone.get_ub()[i]); |
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BOOST_CHECK(casted_wrench_cone.get_lb()[i] == friction_cone.get_lb()[i]); |
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} |
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} |
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void test_against_cop_support() { |
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// Common parameters |
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Eigen::Quaterniond q; |
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pinocchio::quaternion::uniformRandom(q); |
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Eigen::Matrix3d R = q.toRotationMatrix(); |
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double mu = random_real_in_range(0.01, 1.); |
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Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1), |
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random_real_in_range(0.01, 0.1)); |
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std::size_t nf = 2 * random_int_in_range(2, 16); |
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bool inner_appr = true; |
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// Create wrench and friction cone |
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crocoddyl::WrenchCone wrench_cone(R, mu, box, nf, inner_appr, 0., 100.); |
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crocoddyl::CoPSupport cop_support(R, box); |
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crocoddyl::WrenchCone casted_wrench_cone = wrench_cone.cast<double>(); |
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BOOST_CHECK((wrench_cone.get_R() - cop_support.get_R()).isZero(1e-9)); |
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for (std::size_t i = 0; i < 4; ++i) { |
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for (std::size_t j = 0; j < 6; ++j) { |
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BOOST_CHECK(wrench_cone.get_A().row(nf + i + 1)[j] == |
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cop_support.get_A().row(i)[j]); |
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} |
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} |
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for (std::size_t i = 0; i < 4; ++i) { |
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BOOST_CHECK(wrench_cone.get_ub()[i + nf + 1] == cop_support.get_ub()[i]); |
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BOOST_CHECK(wrench_cone.get_lb()[i + nf + 1] == cop_support.get_lb()[i]); |
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} |
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// Checking that casted computation is the same |
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BOOST_CHECK((casted_wrench_cone.get_R() - cop_support.get_R()).isZero(1e-9)); |
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for (std::size_t i = 0; i < 4; ++i) { |
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for (std::size_t j = 0; j < 6; ++j) { |
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BOOST_CHECK(casted_wrench_cone.get_A().row(nf + i + 1)[j] == |
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cop_support.get_A().row(i)[j]); |
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} |
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} |
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for (std::size_t i = 0; i < 4; ++i) { |
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BOOST_CHECK(casted_wrench_cone.get_ub()[i + nf + 1] == |
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cop_support.get_ub()[i]); |
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BOOST_CHECK(casted_wrench_cone.get_lb()[i + nf + 1] == |
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cop_support.get_lb()[i]); |
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} |
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} |
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void test_force_along_wrench_cone_normal() { |
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// Create the wrench cone |
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Eigen::Quaterniond q; |
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pinocchio::quaternion::uniformRandom(q); |
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Eigen::Matrix3d R = q.toRotationMatrix(); |
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double mu = random_real_in_range(0.01, 1.); |
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Eigen::Vector2d cone_box = Eigen::Vector2d(random_real_in_range(0.01, 0.1), |
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random_real_in_range(0.01, 0.1)); |
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crocoddyl::WrenchCone cone(R, mu, cone_box); |
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crocoddyl::WrenchCone casted_cone = cone.cast<double>(); |
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| 267 |
|
|
// Create the activation for quadratic barrier |
| 268 |
|
✗ |
crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub()); |
| 269 |
|
✗ |
crocoddyl::ActivationModelQuadraticBarrier activation(bounds); |
| 270 |
|
|
crocoddyl::ActivationModelQuadraticBarrier casted_activation = |
| 271 |
|
✗ |
activation.cast<double>(); |
| 272 |
|
|
const std::shared_ptr<crocoddyl::ActivationDataAbstract>& data = |
| 273 |
|
✗ |
activation.createData(); |
| 274 |
|
|
const std::shared_ptr<crocoddyl::ActivationDataAbstract>& casted_data = |
| 275 |
|
✗ |
casted_activation.createData(); |
| 276 |
|
|
|
| 277 |
|
|
// Compute the activation value |
| 278 |
|
✗ |
Eigen::VectorXd wrench(6); |
| 279 |
|
✗ |
wrench.setZero(); |
| 280 |
|
✗ |
wrench.head<3>() = random_real_in_range(0., 100.) * R.col(2); |
| 281 |
|
✗ |
Eigen::VectorXd r = cone.get_A() * wrench; |
| 282 |
|
✗ |
activation.calc(data, r); |
| 283 |
|
|
|
| 284 |
|
|
// The activation value has to be zero since the wrench is inside the wrench |
| 285 |
|
|
// cone |
| 286 |
|
✗ |
BOOST_CHECK(data->a_value == 0.); |
| 287 |
|
|
|
| 288 |
|
|
// Checking that casted computation is the same |
| 289 |
|
✗ |
r = casted_cone.get_A() * wrench; |
| 290 |
|
✗ |
casted_activation.calc(casted_data, r); |
| 291 |
|
✗ |
BOOST_CHECK(casted_data->a_value == 0.); |
| 292 |
|
|
} |
| 293 |
|
|
|
| 294 |
|
✗ |
void test_negative_force_along_wrench_cone_normal() { |
| 295 |
|
|
// Create the wrench cone |
| 296 |
|
✗ |
Eigen::Quaterniond q; |
| 297 |
|
✗ |
pinocchio::quaternion::uniformRandom(q); |
| 298 |
|
✗ |
Eigen::Matrix3d R = q.toRotationMatrix(); |
| 299 |
|
✗ |
double mu = random_real_in_range(0.01, 1.); |
| 300 |
|
✗ |
Eigen::Vector2d cone_box = Eigen::Vector2d(random_real_in_range(0.01, 0.1), |
| 301 |
|
✗ |
random_real_in_range(0.01, 0.1)); |
| 302 |
|
✗ |
crocoddyl::WrenchCone cone(R, mu, cone_box); |
| 303 |
|
✗ |
crocoddyl::WrenchCone casted_cone = cone.cast<double>(); |
| 304 |
|
|
|
| 305 |
|
|
// Create the activation for quadratic barrier |
| 306 |
|
✗ |
crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub()); |
| 307 |
|
✗ |
crocoddyl::ActivationModelQuadraticBarrier activation(bounds); |
| 308 |
|
|
crocoddyl::ActivationModelQuadraticBarrier casted_activation = |
| 309 |
|
✗ |
activation.cast<double>(); |
| 310 |
|
|
const std::shared_ptr<crocoddyl::ActivationDataAbstract>& data = |
| 311 |
|
✗ |
activation.createData(); |
| 312 |
|
|
const std::shared_ptr<crocoddyl::ActivationDataAbstract>& casted_data = |
| 313 |
|
✗ |
casted_activation.createData(); |
| 314 |
|
|
|
| 315 |
|
|
// Compute the activation value |
| 316 |
|
✗ |
Eigen::VectorXd wrench(6); |
| 317 |
|
✗ |
wrench.setZero(); |
| 318 |
|
✗ |
wrench.head<3>() = -random_real_in_range(0., 100.) * R.col(2); |
| 319 |
|
✗ |
Eigen::VectorXd r = cone.get_A() * wrench; |
| 320 |
|
✗ |
activation.calc(data, r); |
| 321 |
|
|
|
| 322 |
|
|
// The first nf elements of the residual has to be positive since the force is |
| 323 |
|
|
// outside the wrench cone. Additionally, the last value has to be equals to |
| 324 |
|
|
// the force norm but with negative value since the wrench is aligned and in |
| 325 |
|
|
// opposite direction to the wrench cone orientation |
| 326 |
|
✗ |
for (std::size_t i = 0; i < cone.get_nf(); ++i) { |
| 327 |
|
✗ |
BOOST_CHECK(r(i) > 0.); |
| 328 |
|
|
} |
| 329 |
|
|
|
| 330 |
|
|
// The activation value has to be positive since the wrench is outside the |
| 331 |
|
|
// wrench cone |
| 332 |
|
✗ |
activation.calc(data, r); |
| 333 |
|
✗ |
BOOST_CHECK(data->a_value > 0.); |
| 334 |
|
|
|
| 335 |
|
|
// Checking that casted computation is the same |
| 336 |
|
✗ |
r = casted_cone.get_A() * wrench; |
| 337 |
|
✗ |
casted_activation.calc(casted_data, r); |
| 338 |
|
✗ |
for (std::size_t i = 0; i < casted_cone.get_nf(); ++i) { |
| 339 |
|
✗ |
BOOST_CHECK(r(i) > 0.); |
| 340 |
|
|
} |
| 341 |
|
✗ |
casted_activation.calc(casted_data, r); |
| 342 |
|
✗ |
BOOST_CHECK(casted_data->a_value > 0.); |
| 343 |
|
|
} |
| 344 |
|
|
|
| 345 |
|
✗ |
void test_setter() { |
| 346 |
|
|
// Create the wrench cone |
| 347 |
|
✗ |
Eigen::Matrix3d R = Eigen::Matrix3d::Identity(); |
| 348 |
|
✗ |
double mu = random_real_in_range(0.01, 1.); |
| 349 |
|
✗ |
Eigen::Vector2d cone_box = Eigen::Vector2d(random_real_in_range(0.01, 0.1), |
| 350 |
|
✗ |
random_real_in_range(0.01, 0.1)); |
| 351 |
|
✗ |
crocoddyl::WrenchCone cone(R, mu, cone_box); |
| 352 |
|
|
|
| 353 |
|
✗ |
mu = random_real_in_range(0.01, 1.); |
| 354 |
|
✗ |
cone.set_mu(mu); |
| 355 |
|
|
|
| 356 |
|
✗ |
BOOST_CHECK(cone.get_mu() == mu); |
| 357 |
|
|
} |
| 358 |
|
|
|
| 359 |
|
✗ |
void test_force_parallel_to_wrench_cone_normal() { |
| 360 |
|
|
// Create the wrench cone |
| 361 |
|
✗ |
Eigen::Matrix3d R = Eigen::Matrix3d::Identity(); |
| 362 |
|
✗ |
double mu = random_real_in_range(0.01, 1.); |
| 363 |
|
✗ |
Eigen::Vector2d cone_box = Eigen::Vector2d(random_real_in_range(0.01, 0.1), |
| 364 |
|
✗ |
random_real_in_range(0.01, 0.1)); |
| 365 |
|
✗ |
crocoddyl::WrenchCone cone(R, mu, cone_box); |
| 366 |
|
✗ |
crocoddyl::WrenchCone casted_cone = cone.cast<double>(); |
| 367 |
|
|
|
| 368 |
|
|
// Create the activation for quadratic barrier |
| 369 |
|
✗ |
crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub()); |
| 370 |
|
✗ |
crocoddyl::ActivationModelQuadraticBarrier activation(bounds); |
| 371 |
|
|
crocoddyl::ActivationModelQuadraticBarrier casted_activation = |
| 372 |
|
✗ |
activation.cast<double>(); |
| 373 |
|
|
const std::shared_ptr<crocoddyl::ActivationDataAbstract>& data = |
| 374 |
|
✗ |
activation.createData(); |
| 375 |
|
|
const std::shared_ptr<crocoddyl::ActivationDataAbstract>& casted_data = |
| 376 |
|
✗ |
casted_activation.createData(); |
| 377 |
|
|
|
| 378 |
|
✗ |
Eigen::VectorXd wrench(6); |
| 379 |
|
✗ |
wrench.setZero(); |
| 380 |
|
✗ |
wrench.head<3>() = -random_real_in_range(0., 100.) * Eigen::Vector3d::UnitX(); |
| 381 |
|
✗ |
Eigen::VectorXd r = cone.get_A() * wrench; |
| 382 |
|
|
|
| 383 |
|
|
// The activation value has to be positive since the force is outside the |
| 384 |
|
|
// wrench cone |
| 385 |
|
✗ |
activation.calc(data, r); |
| 386 |
|
✗ |
BOOST_CHECK(data->a_value > 0.); |
| 387 |
|
|
|
| 388 |
|
|
// Checking that casted computation is the same |
| 389 |
|
✗ |
r = casted_cone.get_A() * wrench; |
| 390 |
|
✗ |
casted_activation.calc(casted_data, r); |
| 391 |
|
✗ |
BOOST_CHECK(casted_data->a_value > 0.); |
| 392 |
|
|
} |
| 393 |
|
|
|
| 394 |
|
✗ |
void register_unit_tests() { |
| 395 |
|
✗ |
framework::master_test_suite().add( |
| 396 |
|
✗ |
BOOST_TEST_CASE(boost::bind(&test_constructor))); |
| 397 |
|
✗ |
framework::master_test_suite().add( |
| 398 |
|
✗ |
BOOST_TEST_CASE(boost::bind(&test_against_friction_cone))); |
| 399 |
|
✗ |
framework::master_test_suite().add( |
| 400 |
|
✗ |
BOOST_TEST_CASE(boost::bind(&test_against_cop_support))); |
| 401 |
|
✗ |
framework::master_test_suite().add( |
| 402 |
|
✗ |
BOOST_TEST_CASE(boost::bind(&test_force_along_wrench_cone_normal))); |
| 403 |
|
✗ |
framework::master_test_suite().add(BOOST_TEST_CASE( |
| 404 |
|
|
boost::bind(&test_negative_force_along_wrench_cone_normal))); |
| 405 |
|
✗ |
framework::master_test_suite().add( |
| 406 |
|
✗ |
BOOST_TEST_CASE(boost::bind(&test_force_parallel_to_wrench_cone_normal))); |
| 407 |
|
✗ |
framework::master_test_suite().add( |
| 408 |
|
✗ |
BOOST_TEST_CASE(boost::bind(&test_setter))); |
| 409 |
|
|
} |
| 410 |
|
|
|
| 411 |
|
✗ |
bool init_function() { |
| 412 |
|
✗ |
register_unit_tests(); |
| 413 |
|
✗ |
return true; |
| 414 |
|
|
} |
| 415 |
|
|
|
| 416 |
|
✗ |
int main(int argc, char* argv[]) { |
| 417 |
|
✗ |
return ::boost::unit_test::unit_test_main(&init_function, argc, argv); |
| 418 |
|
|
} |
| 419 |
|
|
|