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Guilhem Saurel
test-hpp
Commits
f30e3256
Commit
f30e3256
authored
Jun 11, 2015
by
Florent Lamiraux
Browse files
Update to modification in hpp-core
- configuration shooters are now handled by shared pointers.
parent
ec1750f6
Changes
1
Hide whitespace changes
Inline
Side-by-side
tests/projection.cc
View file @
f30e3256
...
...
@@ -51,6 +51,7 @@ using namespace boost::accumulators;
using
hpp
::
model
::
Device
;
using
hpp
::
model
::
DevicePtr_t
;
using
hpp
::
model
::
JointPtr_t
;
using
hpp
::
core
::
ConfigurationShooterPtr_t
;
using
hpp
::
core
::
DifferentiableFunctionPtr_t
;
using
hpp
::
core
::
NumericalConstraint
;
using
hpp
::
core
::
NumericalConstraintPtr_t
;
...
...
@@ -59,6 +60,7 @@ using hpp::core::ConstraintPtr_t;
using
hpp
::
core
::
ConfigProjector
;
using
hpp
::
core
::
ConfigProjectorPtr_t
;
using
hpp
::
core
::
BasicConfigurationShooter
;
using
hpp
::
core
::
BasicConfigurationShooterPtr_t
;
using
hpp
::
core
::
ConfigurationShooter
;
using
hpp
::
core
::
Configuration_t
;
using
hpp
::
core
::
ConfigurationOut_t
;
...
...
@@ -169,7 +171,7 @@ namespace projection {
typedef
std
::
vector
<
Result
>
ResultVector
;
typedef
accumulator_set
<
double
,
stats
<
tag
::
variance
>
>
Accumulator
;
void
shootConfig
(
ResultVector
&
results
,
ConfigurationShooter
*
cs
)
void
shootConfig
(
ResultVector
&
results
,
ConfigurationShooter
Ptr_t
cs
)
{
ConfigurationPtr_t
cfg
;
for
(
size_t
i
=
0
;
i
<
results
.
size
();
i
++
)
{
...
...
@@ -200,7 +202,8 @@ namespace projection {
using
hpp_test
::
functionSets
;
DevicePtr_t
robot
=
hpp_test
::
robot
;
BasicConfigurationShooter
bcs
(
robot
);
BasicConfigurationShooterPtr_t
bcs
(
BasicConfigurationShooter
::
create
(
robot
));
std
::
vector
<
ConfigProjectorPtr_t
>
cp
;
for
(
size_t
i
=
0
;
i
<
functionSets
.
size
();
i
++
)
{
...
...
@@ -212,7 +215,7 @@ namespace projection {
Accumulator
acc
;
std
::
vector
<
Result
>
results
(
NB_TRIES
);
shootConfig
(
results
,
&
bcs
);
shootConfig
(
results
,
bcs
);
for
(
size_t
i
=
0
;
i
<
cp
.
size
();
i
++
)
{
acc
=
Accumulator
();
...
...
@@ -476,7 +479,7 @@ namespace svd {
};
typedef
std
::
vector
<
Result
>
ResultVector
;
void
shootConfig
(
ResultVector
&
results
,
ConfigurationShooter
*
cs
)
void
shootConfig
(
ResultVector
&
results
,
ConfigurationShooter
Ptr_t
cs
)
{
ConfigurationPtr_t
cfg
;
for
(
size_t
i
=
0
;
i
<
results
.
size
();
i
++
)
{
...
...
@@ -503,7 +506,8 @@ namespace svd {
/// Create the robot
DevicePtr_t
robot
=
hpp_test
::
robot
;
BasicConfigurationShooter
bcs
(
robot
);
BasicConfigurationShooterPtr_t
bcs
(
BasicConfigurationShooter
::
create
(
robot
));
using
hpp_test
::
functionSets
;
std
::
vector
<
SVDTest
*>
cp
;
...
...
@@ -515,7 +519,7 @@ namespace svd {
MESSAGE_INF
(
"There are "
<<
cp
.
size
()
<<
" SVDTest to be tested."
);
std
::
vector
<
Result
>
results
(
NB_TRIES
);
shootConfig
(
results
,
&
bcs
);
shootConfig
(
results
,
bcs
);
for
(
size_t
i
=
0
;
i
<
cp
.
size
();
i
++
)
{
std
::
size_t
f
=
project
(
cp
[
i
],
results
);
...
...
@@ -566,7 +570,7 @@ namespace shuffle {
typedef
std
::
vector
<
Result
>
ResultVector
;
typedef
accumulator_set
<
double
,
stats
<
tag
::
variance
>
>
Accumulator
;
void
shootConfig
(
ResultVector
&
results
,
ConfigurationShooter
*
cs
)
void
shootConfig
(
ResultVector
&
results
,
ConfigurationShooter
Ptr_t
cs
)
{
ConfigurationPtr_t
cfg
;
for
(
size_t
i
=
0
;
i
<
results
.
size
();
i
++
)
{
...
...
@@ -614,7 +618,8 @@ namespace shuffle {
/// Create the robot
DevicePtr_t
robot
=
hpp_test
::
robot
;
BasicConfigurationShooter
bcs
(
robot
);
BasicConfigurationShooterPtr_t
bcs
(
BasicConfigurationShooter
::
create
(
robot
));
using
hpp_test
::
functionSets
;
std
::
vector
<
ConfigProjectorPtr_t
>
cp
;
...
...
@@ -628,7 +633,7 @@ namespace shuffle {
MESSAGE_INF
(
"There are "
<<
cp
.
size
()
<<
" ConfigProjector to be tested."
);
std
::
vector
<
Result
>
results
(
NB_TRIES
);
shootConfig
(
results
,
&
bcs
);
shootConfig
(
results
,
bcs
);
for
(
size_t
i
=
0
;
i
<
results
.
size
();
i
++
)
{
Accumulator
acc
;
...
...
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