#include <boost/test/unit_test.hpp>
#include "robot_models/pinocchio/RobotModelPinocchio.hpp"
#include "scenes/velocity/VelocityScene.hpp"
#include "solvers/hls/HierarchicalLSSolver.hpp"

Macros
#define	BOOST_TEST_DYN_LINK

#define	BOOST_TEST_MAIN

Functions
	BOOST_AUTO_TEST_CASE (configuration_test)

	BOOST_AUTO_TEST_CASE (simple_test)

Macro Definition Documentation

◆ BOOST_TEST_DYN_LINK

#define BOOST_TEST_DYN_LINK

◆ BOOST_TEST_MAIN

#define BOOST_TEST_MAIN

Function Documentation

◆ BOOST_AUTO_TEST_CASE() [1/2]

BOOST_AUTO_TEST_CASE ( configuration_test )

Check if the WBC velocity scene fails to configure with invalid configuration

◆ BOOST_AUTO_TEST_CASE() [2/2]

BOOST_AUTO_TEST_CASE ( simple_test )

Check if the WBC velocity scene computes the correct result, i.e., if the reference spatial velocity matches the solver output, back-projected to Cartesian space