Commit 2bf2cded authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Update tests to latest modifications in hpp-model.

  - the config size is now different from the number of degrees of freedom.
parent a8d4b814
......@@ -68,7 +68,8 @@ BOOST_AUTO_TEST_CASE (body_positions_mesh)
fileConfig.close ();
// Load hrp2
hpp::model::HumanoidRobotPtr_t humanoidRobot;
hpp::model::urdf::loadRobotModel (humanoidRobot, "hrp2_14", "", "", "");
hpp::model::urdf::loadRobotModel
(humanoidRobot, "freeflyer", "hrp2_14", "", "");
configSize = humanoidRobot->configSize ();
// Check size of config
if (dofs.size () != configSize) {
......
......@@ -132,9 +132,9 @@ BOOST_AUTO_TEST_CASE (interbody_distances_capsule)
fileConfig.close ();
// Load hrp2
hpp::model::HumanoidRobotPtr_t humanoidRobot;
hpp::model::urdf::loadRobotModel (humanoidRobot, "hrp2_14", "_capsule",
"_capsule", "");
configSize = humanoidRobot->numberDof ();
hpp::model::urdf::loadRobotModel
(humanoidRobot, "freeflyer", "hrp2_14", "_capsule", "_capsule");
configSize = humanoidRobot->configSize ();
// Check size of config
if (dofs.size () != configSize) {
std::ostringstream error;
......
......@@ -132,8 +132,9 @@ BOOST_AUTO_TEST_CASE (interbody_distances_mesh)
fileConfig.close ();
// Load hrp2
hpp::model::HumanoidRobotPtr_t humanoidRobot;
hpp::model::urdf::loadRobotModel (humanoidRobot, "hrp2_14", "", "", "");
configSize = humanoidRobot->numberDof ();
hpp::model::urdf::loadRobotModel
(humanoidRobot, "freeflyer", "hrp2_14", "", "");
configSize = humanoidRobot->configSize ();
// Check size of config
if (dofs.size () != configSize) {
std::ostringstream error;
......
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