Fix joint limit test on tau

Author: earlaud

tests/inverse_dynamics.cpp

@@ -31,16 +31,16 @@ void check_joint_limits(
   const Eigen::VectorXd & v,
   const Eigen::VectorXd & tau)
 {
-  for (int i = 0; i < model_handler.getModel().nv - 6; i++)
+  const pinocchio::Model & model = model_handler.getModel();
+  for (int i = 0; i < model.nv - 6; i++)
   {
-    BOOST_CHECK_LE(q[7 + i], model_handler.getModel().upperPositionLimit[7 + i]);
-    BOOST_CHECK_GE(q[7 + i], model_handler.getModel().lowerPositionLimit[7 + i]);
-    BOOST_CHECK_LE(v[6 + i], model_handler.getModel().upperVelocityLimit[6 + i]);
-    BOOST_CHECK_GE(
-      v[6 + i],
-      -model_handler.getModel().upperVelocityLimit[6 + i]); // Do not use lower velocity bound as TSID cannot handle it
-    BOOST_CHECK_LE(tau[6 + i], model_handler.getModel().upperEffortLimit[6 + i]);
-    BOOST_CHECK_GE(tau[6 + i], model_handler.getModel().lowerEffortLimit[6 + i]);
+    BOOST_CHECK_LE(q[7 + i], model.upperPositionLimit[7 + i]);
+    BOOST_CHECK_GE(q[7 + i], model.lowerPositionLimit[7 + i]);
+    BOOST_CHECK_LE(v[6 + i], model.upperVelocityLimit[6 + i]);
+    // Do not use lower velocity bound as TSID cannot handle it
+    BOOST_CHECK_GE(v[6 + i], -model.upperVelocityLimit[6 + i]);
+    BOOST_CHECK_LE(tau[i], model.upperEffortLimit[6 + i]);
+    BOOST_CHECK_GE(tau[i], model.lowerEffortLimit[6 + i]);
   }
 }