dynamic_constraint_test.cc
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00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
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00029 
00030 #include <gtest/gtest.h>
00031 #include <Eigen/Sparse>
00032 
00033 namespace towr {
00034 
00035 using VectorXd = Eigen::VectorXd;
00036 
00037 
00038 //TEST(DynamicConstraintTest, UpdateConstraintValues)
00039 //{
00040 //  using Jacobian      = Eigen::SparseMatrix<double, Eigen::RowMajor>;
00041 //
00042 //  Jacobian jac(3,2);
00043 //
00046 //  jac.coeffRef(1,1) = 3.3;
00047 //
00048 //
00049 //  using JacobianRow = Eigen::SparseVector<double, Eigen::RowMajor>;
00050 //  JacobianRow row(2);
00051 //  row.insert(1) = 5;
00052 //  jac.row(0) += row;
00053 //
00054 //
00056 //
00057 //
00058 //  std::cout << "jac: " << jac << std::endl;
00059 //  double nnz = jac.nonZeros();
00060 //  std::cout << "nnz: " << nnz << std::endl;
00061 //
00062 //
00063 //  jac.makeCompressed();
00064 //  for (int i=0; i<nnz; ++i) {
00065 //    std::cout << "i=" << i << ":  " << jac.valuePtr()[i] << std::endl;
00066 //  }
00067 //}
00068 
00069 TEST(DynamicConstraintTest, EigenScalar)
00070 {
00071   VectorXd g(2);
00072 
00073 //  std::cout << g << std::endl;
00074 }
00075 
00076 } /* namespace towr */


towr_core
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 9 2018 03:12:44