joint-free-flyer.cpp

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//
// Copyright (c) 2015-2020 CNRS INRIA
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
 
#include "pinocchio/math/fwd.hpp"
#include "pinocchio/multibody/joint/joints.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/aba.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/compute-all-terms.hpp"
 
#include <boost/test/unit_test.hpp>
#include <iostream>
 
using namespace pinocchio;
 
BOOST_AUTO_TEST_SUITE(JointFreeFlyer)
 
BOOST_AUTO_TEST_CASE(spatial)
{
  Motion v(Motion::Random());
 
  JointMotionSubspaceIdentityTpl<double, 0> constraint;
  Motion Sv = constraint * v.toVector();
 
  BOOST_CHECK(Sv == v);
}
 
BOOST_AUTO_TEST_SUITE_END()