Commit 9b050520 authored by jcarpent's avatar jcarpent
Browse files

[Unit Test] Add test on the operation Ydense*S

parent 0e22da60
...@@ -86,6 +86,14 @@ void test_joint_methods (JointModel & jmodel, typename JointModel::JointDataDeri ...@@ -86,6 +86,14 @@ void test_joint_methods (JointModel & jmodel, typename JointModel::JointDataDeri
BOOST_CHECK_MESSAGE(vxS.isApprox(vxS_ref),std::string(error_prefix + "- Joint vxS operation ")); BOOST_CHECK_MESSAGE(vxS.isApprox(vxS_ref),std::string(error_prefix + "- Joint vxS operation "));
// Test Y*S
const Inertia Isparse(Inertia::Random());
const Inertia::Matrix6 Idense(Isparse.matrix());
const ConstraintDense IsparseS = Isparse * jdata.S;
const ConstraintDense IdenseS = Idense * jdata.S;
BOOST_CHECK_MESSAGE(IdenseS.isApprox(IsparseS),std::string(error_prefix + "- Joint YS operation "));
} }
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