Directory: | ./ |
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File: | tests/set_gravity.cpp |
Date: | 2024-08-26 20:29:39 |
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1 | // | ||
2 | // Copyright (c) 2017 CNRS | ||
3 | // | ||
4 | // This file is part of tsid | ||
5 | // tsid is free software: you can redistribute it | ||
6 | // and/or modify it under the terms of the GNU Lesser General Public | ||
7 | // License as published by the Free Software Foundation, either version | ||
8 | // 3 of the License, or (at your option) any later version. | ||
9 | // tsid is distributed in the hope that it will be | ||
10 | // useful, but WITHOUT ANY WARRANTY; without even the implied warranty | ||
11 | // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
12 | // General Lesser Public License for more details. You should have | ||
13 | // received a copy of the GNU Lesser General Public License along with | ||
14 | // tsid If not, see | ||
15 | // <http://www.gnu.org/licenses/>. | ||
16 | // | ||
17 | |||
18 | #include <iostream> | ||
19 | |||
20 | #include <boost/test/unit_test.hpp> | ||
21 | #include <boost/utility/binary.hpp> | ||
22 | |||
23 | #include <tsid/math/utils.hpp> | ||
24 | #include "tsid/robots/robot-wrapper.hpp" | ||
25 | |||
26 | using namespace tsid; | ||
27 | using namespace tsid::robots; | ||
28 | using namespace std; | ||
29 | using namespace pinocchio; | ||
30 | |||
31 | typedef pinocchio::Motion Motion; | ||
32 | |||
33 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) | ||
34 | |||
35 |
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4 | BOOST_AUTO_TEST_CASE(test_set_gravity) { |
36 |
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2 | const string romeo_model_path = TSID_SOURCE_DIR "/models/romeo"; |
37 | |||
38 | 2 | vector<string> package_dirs; | |
39 |
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2 | package_dirs.push_back(romeo_model_path); |
40 |
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2 | string urdfFileName = package_dirs[0] + "/urdf/romeo.urdf"; |
41 | RobotWrapper robot(urdfFileName, package_dirs, | ||
42 |
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2 | pinocchio::JointModelFreeFlyer(), false); |
43 | |||
44 |
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2 | Motion g = pinocchio::Motion::Zero(); |
45 |
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2 | Motion init_gravity = robot.model().gravity; |
46 | |||
47 |
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2 | robot.setGravity(g); |
48 | |||
49 |
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2 | Motion no_gravity = robot.model().gravity; |
50 | |||
51 |
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2 | BOOST_CHECK(no_gravity != init_gravity); |
52 | 2 | } | |
53 | |||
54 | BOOST_AUTO_TEST_SUITE_END() | ||
55 |