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Add test coverage for admittance_rule_impl fix for mass matrix transformation from control frame to base frame #2092

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Add test coverage for admittance_rule_impl fix for mass matrix transformation from control frame to base frame #2092

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9 changes: 9 additions & 0 deletions admittance_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -94,6 +94,15 @@ if(BUILD_TESTING)
target_link_libraries(test_admittance_controller
admittance_controller
ros2_control_test_assets::ros2_control_test_assets)

# test admittance rule implementation
ament_add_gmock(test_admittance_rule_impl
test/test_admittance_rule_impl.cpp
)
target_link_libraries(test_admittance_rule_impl
admittance_controller
Eigen3::Eigen
kinematics_interface::kinematics_interface)
endif()

install(
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