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Guilhem Saurel
test-hpp
Commits
ad7de4e9
Commit
ad7de4e9
authored
Jan 29, 2015
by
Florent Lamiraux
Browse files
Update test to recent modifications in hpp-core.
parent
b91bbb15
Changes
1
Hide whitespace changes
Inline
Side-by-side
tests/projection.cc
View file @
ad7de4e9
...
...
@@ -41,7 +41,7 @@
#include
<hpp/model/configuration.hh>
#include
<hpp/constraints/relative-transformation.hh>
#include
<hpp/wholebody-step/static-stability-constraint.hh>
#include
<hpp/co
re
/differentiable-function.hh>
#include
<hpp/co
nstraints
/differentiable-function.hh>
#include
<hpp/core/basic-configuration-shooter.hh>
#include
<hpp/core/config-projector.hh>
...
...
@@ -52,6 +52,7 @@ using hpp::model::Device;
using
hpp
::
model
::
DevicePtr_t
;
using
hpp
::
model
::
JointPtr_t
;
using
hpp
::
core
::
DifferentiableFunctionPtr_t
;
using
hpp
::
core
::
NumericalConstraint
;
using
hpp
::
core
::
Constraint
;
using
hpp
::
core
::
ConfigProjector
;
using
hpp
::
core
::
ConfigProjectorPtr_t
;
...
...
@@ -200,7 +201,7 @@ namespace projection {
for
(
size_t
i
=
0
;
i
<
functionSets
.
size
();
i
++
)
{
cp
.
push_back
(
ConfigProjector
::
create
(
robot
,
""
,
ERROR_THRESHOLD
,
MAX_ITERATIONS
));
for
(
size_t
j
=
0
;
j
<
functionSets
[
i
].
size
();
j
++
)
cp
.
back
()
->
addConstraint
(
functionSets
[
i
][
j
]);
cp
.
back
()
->
add
(
Numerical
Constraint
::
create
(
functionSets
[
i
][
j
])
)
;
}
MESSAGE_INF
(
"There are "
<<
cp
.
size
()
<<
" projectors to be tested."
);
...
...
@@ -605,7 +606,7 @@ namespace shuffle {
for
(
size_t
i
=
0
;
i
<
10
;
i
++
)
{
cp
.
push_back
(
ConfigProjector
::
create
(
robot
,
""
,
ERROR_THRESHOLD
,
MAX_ITERATIONS
));
for
(
size_t
j
=
0
;
j
<
dfs
.
size
();
j
++
)
cp
.
back
()
->
addConstraint
(
dfs
[
j
]);
cp
.
back
()
->
add
(
Numerical
Constraint
::
create
(
dfs
[
j
])
)
;
std
::
random_shuffle
(
dfs
.
begin
(),
dfs
.
end
());
}
MESSAGE_INF
(
"There are "
<<
cp
.
size
()
<<
" ConfigProjector to be tested."
);
...
...
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