Fix test getContactForces

earlaud · earlaud · commit 2349903fd042 · 2025-07-30T15:42:47.000+02:00
diff --git a/tests/mpc.cpp b/tests/mpc.cpp
@@ -91,7 +91,7 @@ BOOST_AUTO_TEST_CASE(mpc_fulldynamics)
 
   Eigen::VectorXd xdot = mpc.getStateDerivative(0);
 
-  Eigen::VectorXd forces = mpc.getContactForces(0);
+  Eigen::Matrix<double, Eigen::Dynamic, 3> forces = mpc.getContactForces(0);
 }
 
 BOOST_AUTO_TEST_CASE(mpc_kinodynamics)

Original file line number	Diff line number	Diff line change
`@@ -91,7 +91,7 @@ BOOST_AUTO_TEST_CASE(mpc_fulldynamics)`
`91`	`91`
`92`	`92`	`Eigen::VectorXd xdot = mpc.getStateDerivative(0);`
`93`	`93`
`94`		`- Eigen::VectorXd forces = mpc.getContactForces(0);`
	`94`	`+ Eigen::Matrix<double, Eigen::Dynamic, 3> forces = mpc.getContactForces(0);`
`95`	`95`	`}`
`96`	`96`
`97`	`97`	`BOOST_AUTO_TEST_CASE(mpc_kinodynamics)`