From 37299a3c7b68b44348c51c8627303140074c055e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 8 Sep 2022 10:04:31 +0200
Subject: [PATCH] Add (loose) asserts to pass tests
---
...mulation_problem_force_torque_inertial_dynamics.cpp | 10 ++++++++++
1 file changed, 10 insertions(+)
diff --git a/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp b/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp
index 59eb9dd..763ecb8 100644
--- a/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp
+++ b/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp
@@ -453,6 +453,11 @@ TEST_F(Test_SimulationProblemForceTorqueInertialDynamics_yaml, simulation_online
WOLF_INFO("Guess mass : ", mass_guess, " Kg.");
WOLF_INFO("Estimated mass : ", S->getStateBlock('m')->getState()(0), " Kg.");
WOLF_INFO("-----------------------------");
+
+ ASSERT_MATRIX_APPROX(bias_true , S->getStateBlock('I')->getState(), 0.11);
+ ASSERT_MATRIX_APPROX(cdm_true , S->getStateBlock('C')->getState(), 1e-3);
+ ASSERT_MATRIX_APPROX(inertia_true, S->getStateBlock('i')->getState(), 1e-2);
+ ASSERT_NEAR (mass_true , S->getStateBlock('m')->getState()(0), 2e-2);
}
TEST_F(Test_SimulationProblemForceTorqueInertialDynamics_yaml, simulation_batch)
@@ -556,6 +561,11 @@ TEST_F(Test_SimulationProblemForceTorqueInertialDynamics_yaml, simulation_batch)
WOLF_INFO("Guess mass : ", mass_guess, " Kg.");
WOLF_INFO("Estimated mass : ", S->getStateBlock('m')->getState()(0), " Kg.");
WOLF_INFO("-----------------------------");
+
+ ASSERT_MATRIX_APPROX(bias_true , S->getStateBlock('I')->getState(), 0.21);
+ ASSERT_MATRIX_APPROX(cdm_true , S->getStateBlock('C')->getState(), 2e-3);
+ ASSERT_MATRIX_APPROX(inertia_true, S->getStateBlock('i')->getState(), 1e-2);
+ ASSERT_NEAR (mass_true , S->getStateBlock('m')->getState()(0), 3e-2);
}
int main(int argc, char** argv)
--
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