test_constructor.cpp

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/*--------STD-------------*/
#include <sstream>

/*-----------BOOST TEST SUITE-------------*/
#define BOOST_TEST_MODULE sot_dynamic_constructor
#include <boost/test/floating_point_comparison.hpp>
#include <boost/test/output_test_stream.hpp>
#include <boost/test/unit_test.hpp>

/*-----------SOT DYNAMIC ------------*/
#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>

#include <sot/core/debug.hh>

/*-----------DYNAMIC GRAPH ------------*/
#include <dynamic-graph/linear-algebra.h>

#include <sot/core/exception-abstract.hh>

/*-----------PINOCCHIO-------------*/
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/parsers/urdf.hpp>

using namespace dynamicgraph::sot;

/* ----- TEST SIGNAL CLASS -----*/

BOOST_AUTO_TEST_CASE(constructor) {
  /*-----------------------CONSTRUCTOR-----------------------------------------*/
  DynamicPinocchio dynamic_("sot_dynamic_test");
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.jointPositionSIN.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::input(vector)::position"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.freeFlyerPositionSIN.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffposition"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.jointVelocitySIN.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::input(vector)::velocity"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.freeFlyerVelocitySIN.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffvelocity"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.jointAccelerationSIN.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::input(vector)::acceleration"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(dynamic_.freeFlyerAccelerationSIN.getName().c_str(),
                  "sotDynamicPinocchio(sot_dynamic_test)::input(vector)::"
                  "ffacceleration"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.newtonEulerSINTERN.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::intern(dummy)::newtoneuler"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(dynamic_.zmpSOUT.getName().c_str(),
                  "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::zmp"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.JcomSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::Jcom"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(dynamic_.comSOUT.getName().c_str(),
                  "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::com"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.inertiaSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::inertia"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.footHeightSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(double)::footHeight"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.upperJlSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperJl"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.lowerJlSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::lowerJl"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.upperVlSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperVl"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.upperTlSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperTl"),
      0);
  BOOST_CHECK_EQUAL(std::strcmp(dynamic_.inertiaRotorSOUT.getName().c_str(),
                                "sotDynamicPinocchio(sot_dynamic_test)::output("
                                "matrix)::inertiaRotor"),
                    0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.MomentaSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::momenta"),
      0);
  BOOST_CHECK_EQUAL(std::strcmp(dynamic_.AngularMomentumSOUT.getName().c_str(),
                                "sotDynamicPinocchio(sot_dynamic_test)::output("
                                "vector)::angularmomentum"),
                    0);
  BOOST_CHECK_EQUAL(std::strcmp(dynamic_.dynamicDriftSOUT.getName().c_str(),
                                "sotDynamicPinocchio(sot_dynamic_test)::output("
                                "vector)::dynamicDrift"),
                    0);
}