Commit 6d5d855d authored by Jordan Lack's avatar Jordan Lack

reformat code

parent 16f9fa21
Pipeline #59873488 (#931) failed with stages
in 20 minutes and 19 seconds
......@@ -71,9 +71,9 @@ TEST_F(UrdfReaderTests, testFirstJointFixedNonTrivialTransform)
ASSERT_EQ(model.qdot_size, 1);
RobotDynamics::updateKinematics(model, q, qdot, qddot);
RobotDynamics::ReferenceFrame* frame = model.bodyFrameMap["j1_link"];
RobotDynamics::ReferenceFramePtr frame = model.referenceFrameMap["j1_link"];
EXPECT_TRUE(model.bodyFrameMap["j1_link"]->getInverseTransformToRoot().r.isApprox(RobotDynamics::Math::Vector3d(0.0, 0.16, 0.8377), 1e-4));
EXPECT_TRUE(model.referenceFrameMap["j1_link"]->getInverseTransformToRoot().r.isApprox(RobotDynamics::Math::Vector3d(0.0, 0.16, 0.8377), 1e-4));
}
TEST_F(UrdfReaderTests, testFixedArm)
......
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