Commit 171f8199 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Update to new interface of hpp-model-urdf.

parent 4e7cb211
......@@ -67,9 +67,10 @@ BOOST_AUTO_TEST_CASE (body_positions_mesh)
}
fileConfig.close ();
// Load hrp2
hpp::model::HumanoidRobotPtr_t humanoidRobot;
hpp::model::urdf::loadRobotModel
(humanoidRobot, "freeflyer", "hrp2_14", "", "");
hpp::model::HumanoidRobotPtr_t humanoidRobot =
hpp::model::urdf::loadHumanoidModel("hrp2_14", "freeflyer",
"hrp2_14_description", "hrp2_14",
"", "");
configSize = humanoidRobot->configSize ();
// Check size of config
if (dofs.size () != configSize) {
......
......@@ -131,9 +131,10 @@ BOOST_AUTO_TEST_CASE (interbody_distances_capsule)
}
fileConfig.close ();
// Load hrp2
hpp::model::HumanoidRobotPtr_t humanoidRobot;
hpp::model::urdf::loadRobotModel
(humanoidRobot, "freeflyer", "hrp2_14", "_capsule", "_capsule");
hpp::model::HumanoidRobotPtr_t humanoidRobot =
hpp::model::urdf::loadHumanoidModel("hrp2_14", "freeflyer",
"hrp2_14_description", "hrp2_14",
"_capsule", "_capsule");
configSize = humanoidRobot->configSize ();
// Check size of config
if (dofs.size () != configSize) {
......
......@@ -131,9 +131,10 @@ BOOST_AUTO_TEST_CASE (interbody_distances_mesh)
}
fileConfig.close ();
// Load hrp2
hpp::model::HumanoidRobotPtr_t humanoidRobot;
hpp::model::urdf::loadRobotModel
(humanoidRobot, "freeflyer", "hrp2_14", "", "");
hpp::model::HumanoidRobotPtr_t humanoidRobot =
hpp::model::urdf::loadHumanoidModel("hrp2_14", "freeflyer",
"hrp2_14_description", "hrp2_14",
"", "");
configSize = humanoidRobot->configSize ();
// Check size of config
if (dofs.size () != configSize) {
......
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