Fix test all tasks

earlaud · earlaud · commit 397d10d213c8 · 2025-07-25T15:09:20.000+02:00
diff --git a/tests/inverse_dynamics.cpp b/tests/inverse_dynamics.cpp
@@ -154,7 +154,7 @@ BOOST_AUTO_TEST_CASE(KinodynamicsID_allTasks)
 
   Eigen::VectorXd error = 1e12 * Eigen::VectorXd::Ones(model_handler.getModel().nv);
 
-  for (int i = 0; i < 1000; i++)
+  for (int i = 0; i < 10000; i++)
   {
     // Solve and get solution
     solver.solve(t, q, v, tau);
@@ -167,8 +167,7 @@ BOOST_AUTO_TEST_CASE(KinodynamicsID_allTasks)
 
     // Check error is decreasing
     Eigen::VectorXd new_error = pinocchio::difference(model_handler.getModel(), q, q_target);
-    if (i > 1) // Skip first point
-      BOOST_CHECK_LE(new_error.norm(), error.norm());
+    BOOST_CHECK_LE(new_error.norm(), error.norm());
     error = new_error;
   }
 }

Original file line number	Diff line number	Diff line change
`@@ -154,7 +154,7 @@ BOOST_AUTO_TEST_CASE(KinodynamicsID_allTasks)`
`154`	`154`
`155`	`155`	`Eigen::VectorXd error = 1e12 * Eigen::VectorXd::Ones(model_handler.getModel().nv);`
`156`	`156`
`157`		`- for (int i = 0; i < 1000; i++)`
	`157`	`+ for (int i = 0; i < 10000; i++)`
`158`	`158`	`{`
`159`	`159`	`// Solve and get solution`
`160`	`160`	`solver.solve(t, q, v, tau);`
`@@ -167,8 +167,7 @@ BOOST_AUTO_TEST_CASE(KinodynamicsID_allTasks)`
`167`	`167`
`168`	`168`	`// Check error is decreasing`
`169`	`169`	`Eigen::VectorXd new_error = pinocchio::difference(model_handler.getModel(), q, q_target);`
`170`		`- if (i > 1) // Skip first point`
`171`		`- BOOST_CHECK_LE(new_error.norm(), error.norm());`
	`170`	`+ BOOST_CHECK_LE(new_error.norm(), error.norm());`
`172`	`171`	`error = new_error;`
`173`	`172`	`}`
`174`	`173`	`}`