From c215abd5d271d14c429a9fcc2336abfb89756f90 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 9 Aug 2022 10:08:14 +0200
Subject: [PATCH] Comment the lines making bias dynamic
---
test/gtest_solve_problem_force_torque_inertial_dynamics.cpp | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp b/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp
index 20e26c0..cc97b1c 100644
--- a/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp
+++ b/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp
@@ -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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