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/*--------STD-------------*/ |
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#include <sstream> |
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/*-----------BOOST TEST SUITE-------------*/ |
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#define BOOST_TEST_MODULE sot_dynamic_constructor |
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#include <boost/test/floating_point_comparison.hpp> |
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#include <boost/test/output_test_stream.hpp> |
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#include <boost/test/unit_test.hpp> |
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/*-----------SOT DYNAMIC ------------*/ |
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#include <sot/dynamic-pinocchio/dynamic-pinocchio.h> |
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#include <sot/core/debug.hh> |
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/*-----------DYNAMIC GRAPH ------------*/ |
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#include <dynamic-graph/linear-algebra.h> |
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#include <sot/core/exception-abstract.hh> |
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/*-----------PINOCCHIO-------------*/ |
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#include <pinocchio/multibody/model.hpp> |
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#include <pinocchio/parsers/urdf.hpp> |
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using namespace dynamicgraph::sot; |
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/* ----- TEST SIGNAL CLASS -----*/ |
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BOOST_AUTO_TEST_CASE(constructor) { |
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/*-----------------------CONSTRUCTOR-----------------------------------------*/ |
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✓✗✓✗ |
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DynamicPinocchio dynamic_("sot_dynamic_test"); |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.jointPositionSIN.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::position"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.freeFlyerPositionSIN.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffposition"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.jointVelocitySIN.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::velocity"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.freeFlyerVelocitySIN.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffvelocity"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.jointAccelerationSIN.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::acceleration"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp(dynamic_.freeFlyerAccelerationSIN.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::" |
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"ffacceleration"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.newtonEulerSINTERN.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::intern(dummy)::newtoneuler"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp(dynamic_.zmpSOUT.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::zmp"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.JcomSOUT.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::Jcom"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp(dynamic_.comSOUT.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::com"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.inertiaSOUT.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::inertia"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.footHeightSOUT.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::output(double)::footHeight"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.upperJlSOUT.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperJl"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.lowerJlSOUT.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::lowerJl"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.upperVlSOUT.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperVl"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.upperTlSOUT.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperTl"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL(std::strcmp(dynamic_.inertiaRotorSOUT.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::output(" |
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"matrix)::inertiaRotor"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL( |
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std::strcmp( |
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dynamic_.MomentaSOUT.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::momenta"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL(std::strcmp(dynamic_.AngularMomentumSOUT.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::output(" |
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"vector)::angularmomentum"), |
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0); |
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✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK_EQUAL(std::strcmp(dynamic_.dynamicDriftSOUT.getName().c_str(), |
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"sotDynamicPinocchio(sot_dynamic_test)::output(" |
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"vector)::dynamicDrift"), |
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0); |
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} |
Generated by: GCOVR (Version 4.2) |