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Commit c215abd5 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Comment the lines making bias dynamic

parent 8ae58828
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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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− 2
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......@@ -102,7 +102,7 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, mass_only_hovering)
S->getStateBlock('C')->fix();
S->getStateBlock('i')->fix();
S->getStateBlock('m')->unfix();
S->setStateBlockDynamic('I');
// S->setStateBlockDynamic('I');
CaptureMotionPtr C0_0 = std::make_shared<CaptureForceTorqueInertial>(0.0, S, data, data_cov, nullptr);
CaptureMotionPtr C1_0 = std::make_shared<CaptureForceTorqueInertial>(0.2, S, data, data_cov, nullptr);
......@@ -171,6 +171,7 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, cdm_only_hovering)
S->getStateBlock('C')->unfix();
S->getStateBlock('i')->fix();
S->getStateBlock('m')->fix();
// S->setStateBlockDynamic('I');
CaptureMotionPtr C0_0 = std::make_shared<CaptureForceTorqueInertial>( 0.0, S, data, data_cov, nullptr);
CaptureMotionPtr C1_0 = std::make_shared<CaptureForceTorqueInertial>( 0.2, S, data, data_cov, nullptr);
......@@ -239,7 +240,7 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, mass_and_cdm_hovering)
S->getStateBlock('C')->unfix();
S->getStateBlock('i')->fix();
S->getStateBlock('m')->unfix();
S->setStateBlockDynamic('I');
// S->setStateBlockDynamic('I');
CaptureMotionPtr C0_0 = std::make_shared<CaptureForceTorqueInertial>(0.0, S, data, data_cov, nullptr);
CaptureMotionPtr C1_0 = std::make_shared<CaptureForceTorqueInertial>(0.2, S, data, data_cov, nullptr);
......
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