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// |
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// Copyright (c) 2016-2022 CNRS INRIA |
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// |
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#include <boost/fusion/container/generation/make_list.hpp> |
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#include <pinocchio/multibody/model.hpp> |
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#include "pinocchio/multibody/data.hpp" |
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#include "pinocchio/multibody/sample-models.hpp" |
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#include <pinocchio/algorithm/crba.hpp> |
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#include <pinocchio/algorithm/aba.hpp> |
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#include <pinocchio/algorithm/check.hpp> |
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#include <pinocchio/algorithm/default-check.hpp> |
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#include <iostream> |
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using namespace pinocchio; |
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#include <boost/test/unit_test.hpp> |
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#include <boost/utility/binary.hpp> |
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// Dummy checker. |
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struct Check1 : public AlgorithmCheckerBase<Check1> |
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{ |
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bool checkModel_impl(const Model &) const |
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{ |
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return true; |
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} |
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}; |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_check) |
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{ |
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using namespace boost::fusion; |
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pinocchio::Model model; |
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buildModels::humanoidRandom(model); |
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BOOST_CHECK(model.check(Check1())); |
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BOOST_CHECK(model.check(CRBAChecker())); |
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BOOST_CHECK(model.check(ABAChecker())); |
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BOOST_CHECK(model.check(makeAlgoCheckerList(Check1(), ParentChecker(), CRBAChecker()))); |
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BOOST_CHECK(model.check(DEFAULT_CHECKERS)); |
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pinocchio::Data data(model); |
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BOOST_CHECK(checkData(model, data)); |
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BOOST_CHECK(model.check(data)); |
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BOOST_FOREACH (Inertia & Y, model.inertias) |
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{ |
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Y.inertia().data().fill(-1.); |
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} |
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BOOST_CHECK(!model.check(ABAChecker())); // some inertias are negative ... check fail. |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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