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Commit 73cd08c2 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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3 merge requests!31devel->main,!29Add functionality for UAV,!27Fix test with acc_x = 2 m/s2
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test/gtest_solve_problem_force_torque_inertial_dynamics.cpp
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...@@ -271,7 +271,7 @@ TEST_F(Test_SolveProblemForceTorqueInertialPreintDynamics_yaml, mass_and_cdm_hov ...@@ -271,7 +271,7 @@ TEST_F(Test_SolveProblemForceTorqueInertialPreintDynamics_yaml, mass_and_cdm_hov
ASSERT_NEAR(mass_estimated, mass_true, 1e-6); ASSERT_NEAR(mass_estimated, mass_true, 1e-6);
ASSERT_MATRIX_APPROX(cdm_estimated.head(2), cdm_true.head(2), 1e-6); // cdm_z is not observable ASSERT_MATRIX_APPROX(cdm_estimated.head(2), cdm_true.head(2), 1e-6); // cdm_z is not observable while hovering
} }
int main(int argc, char **argv) int main(int argc, char **argv)
...@@ -279,4 +279,4 @@ int main(int argc, char **argv) ...@@ -279,4 +279,4 @@ int main(int argc, char **argv)
testing::InitGoogleTest(&argc, argv); testing::InitGoogleTest(&argc, argv);
// ::testing::GTEST_FLAG(filter) = "Test_SolveProblemForceTorqueInertialPreintDynamics_yaml.mass_and_cdm_hovering"; // ::testing::GTEST_FLAG(filter) = "Test_SolveProblemForceTorqueInertialPreintDynamics_yaml.mass_and_cdm_hovering";
return RUN_ALL_TESTS(); return RUN_ALL_TESTS();
} }
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