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// |
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// Copyright (c) 2015-2020 CNRS INRIA |
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// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
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// |
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#include "pinocchio/math/fwd.hpp" |
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#include "pinocchio/multibody/joint/joints.hpp" |
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#include "pinocchio/algorithm/rnea.hpp" |
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#include "pinocchio/algorithm/aba.hpp" |
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#include "pinocchio/algorithm/crba.hpp" |
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#include "pinocchio/algorithm/jacobian.hpp" |
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#include "pinocchio/algorithm/compute-all-terms.hpp" |
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#include <boost/test/unit_test.hpp> |
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#include <iostream> |
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using namespace pinocchio; |
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BOOST_AUTO_TEST_SUITE(JointFreeFlyer) |
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BOOST_AUTO_TEST_CASE(spatial) |
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{ |
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Motion v(Motion::Random()); |
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JointMotionSubspaceIdentityTpl<double, 0> constraint; |
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Motion Sv = constraint * v.toVector(); |
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BOOST_CHECK(Sv == v); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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