Commit 141fcbd0 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Update to modification in hpp-model-urdf interface.

  - create empty robot and pass it to loadxxxModel.
parent 8ad07929
......@@ -68,9 +68,10 @@ BOOST_AUTO_TEST_CASE (body_positions_mesh)
fileConfig.close ();
// Load hrp2
hpp::model::HumanoidRobotPtr_t humanoidRobot =
hpp::model::urdf::loadHumanoidModel("hrp2_14", "freeflyer",
"hrp2_14_description", "hrp2_14",
"", "");
hpp::model::HumanoidRobot::create ("hrp2_14");
hpp::model::urdf::loadHumanoidModel(humanoidRobot, "freeflyer",
"hrp2_14_description", "hrp2_14",
"", "");
configSize = humanoidRobot->configSize ();
// Check size of config
if (dofs.size () != configSize) {
......
......@@ -132,9 +132,10 @@ BOOST_AUTO_TEST_CASE (interbody_distances_capsule)
fileConfig.close ();
// Load hrp2
hpp::model::HumanoidRobotPtr_t humanoidRobot =
hpp::model::urdf::loadHumanoidModel("hrp2_14", "freeflyer",
"hrp2_14_description", "hrp2_14",
"_capsule", "_capsule");
hpp::model::HumanoidRobot::create ("hrp2_14");
hpp::model::urdf::loadHumanoidModel(humanoidRobot, "freeflyer",
"hrp2_14_description", "hrp2_14",
"_capsule", "_capsule");
configSize = humanoidRobot->configSize ();
// Check size of config
if (dofs.size () != configSize) {
......
......@@ -132,9 +132,10 @@ BOOST_AUTO_TEST_CASE (interbody_distances_mesh)
fileConfig.close ();
// Load hrp2
hpp::model::HumanoidRobotPtr_t humanoidRobot =
hpp::model::urdf::loadHumanoidModel("hrp2_14", "freeflyer",
"hrp2_14_description", "hrp2_14",
"", "");
hpp::model::HumanoidRobot::create ("hrp2_14");
hpp::model::urdf::loadHumanoidModel(humanoidRobot, "freeflyer",
"hrp2_14_description", "hrp2_14",
"", "");
configSize = humanoidRobot->configSize ();
// Check size of config
if (dofs.size () != configSize) {
......
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