Add jacobian tests

Author: bjack205

Project.toml

@@ -1,7 +1,7 @@
 name = "RobotZoo"
 uuid = "74be38bb-dcc2-4b9e-baf3-d6373cd95f10"
 authors = ["Brian Jackson <bjack205@gmail.com>"]
-version = "0.3.1"
+version = "0.3.2"
 
 [deps]
 FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"

test/models_test.jl

@@ -26,7 +26,7 @@ function test_model(model; evals=1, samples=1, tol=1e-6, customjacobian=false)
     RobotDynamics.jacobian!(InPlace(), FiniteDifference(), model, ∇c1, xdot, z)
     @test ∇c1 ≈ ∇c2 atol=tol
     if customjacobian
-        RobotDynamics.jacobian!(InPlace(), UserDefined(), model, ∇c1, xdot, z)
+        RobotDynamics.jacobian!(InPlace(), RD.UserDefined(), model, ∇c1, xdot, z)
         @test ∇c1 ≈ ∇c2
     end
 end
@@ -39,7 +39,7 @@ test_model(acrobot)
 # Car
 car = RobotZoo.DubinsCar()
 @test RD.dims(car) == (3,2,3)
-test_model(car)
+test_model(car, customjacobian=true)
 
 # Bicycle Car
 bicycle = RobotZoo.BicycleModel()