centroidal_dynamics_test.cc

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#include <gtest/gtest.h>

#include <towr/variables/euler_converter.h>

namespace towr {

TEST(CentroidalDynamicsTest, GetBaseAcceleration)
{
//  CentroidalModel model;
//
//  Vector3d com(0.0, 0.0, 0.0);
//  EndeffectorsPos ee_pos(2);
//  ee_pos.At(E0) = Vector3d(1.0, 0.0, 0.0);
//  ee_pos.At(E1).setZero();
//
//  Endeffectors<Vector3d> ee_load(2);
//  ee_load.At(E0) = Vector3d(0.0, 1.0, 0.0); // 1 N force in z
//  ee_load.At(E1).setZero();
//
//  model.SetCurrent(com, ee_load, ee_pos);
//
//  std::cout << model.GetBaseAcceleration();
}

TEST(CentroidalDynamicsTest, GetJacobianOfAccWrtBase)
{
//  CentroidalModel model;
//
//
//  Vector3d d1(1.1, 0.0, 0.0);
//  Vector3d d2(1.1, 2.2, 3.3);
//
//
//  JacobianRow s1 = d1.sparseView(1.0, -1.0);
//  JacobianRow s2 = d2.sparseView();
//  JacobianRow s3(3);
//  s3.coeffRef(0) = 0.0;
//  s3.coeffRef(1) = 0.0;
//  s3.coeffRef(2) = 0.0;
//
//  std::cout << s1 << ", nnz: " << s1.nonZeros() << std::endl;
//  std::cout << s2 << ", nnz: " << s2.nonZeros() << std::endl;
//  std::cout << s3 << ", nnz: " << s3.nonZeros() << std::endl;

}

TEST(CentroidalDynamicsTest, TestRotations)
{
  EulerConverter converter;
//  std::cout << "X: " <<  converter.GetRotation(0.1, X) << std::endl;
//  std::cout << "Y: " <<  converter.GetRotation(0.1, Y) << std::endl;
//  std::cout << "Z: " <<  converter.GetRotation(0.1, Z) << std::endl;

}

} /* namespace xpp */