Commit ad7de4e9 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Update test to recent modifications in hpp-core.

parent b91bbb15
......@@ -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/core/differentiable-function.hh>
#include <hpp/constraints/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 (NumericalConstraint::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 (NumericalConstraint::create (dfs[j]));
std::random_shuffle (dfs.begin (), dfs.end ());
}
MESSAGE_INF ("There are " << cp.size() << " ConfigProjector to be tested.");
......
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