set_gravity.cpp

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//
// Copyright (c) 2017 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
 
#include <iostream>
 
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
 
#include <tsid/math/utils.hpp>
#include "tsid/robots/robot-wrapper.hpp"
 
using namespace tsid;
using namespace tsid::robots;
using namespace std;
using namespace pinocchio;
 
typedef pinocchio::Motion Motion;
 
BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
 
BOOST_AUTO_TEST_CASE(test_set_gravity) {
  const string romeo_model_path = TSID_SOURCE_DIR "/models/romeo";
 
  vector<string> package_dirs;
  package_dirs.push_back(romeo_model_path);
  string urdfFileName = package_dirs[0] + "/urdf/romeo.urdf";
  RobotWrapper robot(urdfFileName, package_dirs,
                     pinocchio::JointModelFreeFlyer(), false);
 
  Motion g = pinocchio::Motion::Zero();
  Motion init_gravity = robot.model().gravity;
 
  robot.setGravity(g);
 
  Motion no_gravity = robot.model().gravity;
 
  BOOST_CHECK(no_gravity != init_gravity);
}
 
BOOST_AUTO_TEST_SUITE_END()