| Directory: | ./ |
|---|---|
| File: | tests/set_gravity.cpp |
| Date: | 2024-08-26 20:29:39 |
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| Lines: | 12 | 12 | 100.0% |
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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 | |||
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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 | |||
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2 | BOOST_CHECK(no_gravity != init_gravity); |
| 52 | 2 | } | |
| 53 | |||
| 54 | BOOST_AUTO_TEST_SUITE_END() | ||
| 55 |