From c3287326165a2ff5a7713226057b008b294379d3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 20 Aug 2022 09:00:17 +0200
Subject: [PATCH] Activate all tests
---
test/gtest_solve_problem_force_torque_inertial_dynamics.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp b/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp
index 8cc70b7..8c300b7 100644
--- a/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp
+++ b/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp
@@ -726,7 +726,7 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, rotation_test_unfixing
// orientation (quaternion and total angle)
// FIXME JS: this should be on top but it works better here, weird...
- quat_true = quat_true * exp_q(ang_vel_true * dt /*+ 0.5 * ang_acc_true * dt * dt*/);
+ quat_true *= exp_q(ang_vel_true * dt /*+ 0.5 * ang_acc_true * dt * dt*/);
angle_true += ang_vel_true * dt /*+ 0.5 * ang_acc_true * dt * dt*/;
// // w = L*i_inv we actualize the data
@@ -778,7 +778,7 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, rotation_test_unfixing
WOLF_INFO("Estimated IMU bias : ", S->getStateBlock('I')->getState().transpose(), " m/s2 | rad/s.");
WOLF_INFO("True center of mass : ", cdm_true.transpose(), " m.");
WOLF_INFO("Guess center of mass : ", cdm_guess.transpose(), " m.");
- WOLF_INFO("Estimated cneter of mass: ", S->getStateBlock('C')->getState().transpose(), " m.");
+ WOLF_INFO("Estimated center of mass: ", S->getStateBlock('C')->getState().transpose(), " m.");
WOLF_INFO("True inertia : ", inertia_true.transpose(), " m^2 Kg.");
WOLF_INFO("Guess inertia : ", inertia_guess.transpose(), " m^2 Kg.");
WOLF_INFO("Estimated inertia : ", S->getStateBlock('i')->getState().transpose(), " m^2 Kg.");
@@ -801,6 +801,6 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, rotation_test_unfixing
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
- ::testing::GTEST_FLAG(filter) = "Test_SolveProblemForceTorqueInertialDynamics_yaml.rotation_test_unfixing";
+ // ::testing::GTEST_FLAG(filter) = "Test_SolveProblemForceTorqueInertialDynamics_yaml.rotation_test_unfixing";
return RUN_ALL_TESTS();
}
--
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