| Directory: | ./ |
|---|---|
| File: | unittest/joint-free-flyer.cpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 5 | 5 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2020 CNRS INRIA | ||
| 3 | // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. | ||
| 4 | // | ||
| 5 | |||
| 6 | #include "pinocchio/math/fwd.hpp" | ||
| 7 | #include "pinocchio/multibody/joint/joints.hpp" | ||
| 8 | #include "pinocchio/algorithm/rnea.hpp" | ||
| 9 | #include "pinocchio/algorithm/aba.hpp" | ||
| 10 | #include "pinocchio/algorithm/crba.hpp" | ||
| 11 | #include "pinocchio/algorithm/jacobian.hpp" | ||
| 12 | #include "pinocchio/algorithm/compute-all-terms.hpp" | ||
| 13 | |||
| 14 | #include <boost/test/unit_test.hpp> | ||
| 15 | #include <iostream> | ||
| 16 | |||
| 17 | using namespace pinocchio; | ||
| 18 | |||
| 19 | BOOST_AUTO_TEST_SUITE(JointFreeFlyer) | ||
| 20 | |||
| 21 |
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4 | BOOST_AUTO_TEST_CASE(spatial) |
| 22 | { | ||
| 23 |
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2 | Motion v(Motion::Random()); |
| 24 | |||
| 25 | JointMotionSubspaceIdentityTpl<double, 0> constraint; | ||
| 26 |
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2 | Motion Sv = constraint * v.toVector(); |
| 27 | |||
| 28 |
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2 | BOOST_CHECK(Sv == v); |
| 29 | 2 | } | |
| 30 | |||
| 31 | BOOST_AUTO_TEST_SUITE_END() | ||
| 32 |