useless test

Author: ipuch

unittest/joint-ellipsoid.cpp

@@ -66,78 +66,6 @@ BOOST_AUTO_TEST_CASE(vsFreeFlyer)
 
   // Calculer jdata.S().transpose() * data.f[i]
 }
-BOOST_AUTO_TEST_CASE(vsRandomForce)
-{
-  using namespace pinocchio;
-  typedef SE3::Vector3 Vector3;
-  typedef Eigen::Matrix<double, 6, 1> Vector6;
-  typedef Eigen::Matrix<double, 7, 1> VectorFF;
-  typedef SE3::Matrix3 Matrix3;
-
-  JointModelEllipsoid jmodel(1, 2, 3);
-  JointDataEllipsoid data = jmodel.createData();
-
-  Eigen::Vector3d qEllipsoid = Eigen::Vector3d::Ones();
-  jmodel.calc(data, qEllipsoid);
-
-  Force frandom = Force::Random();
-  std::cout << "Random force:\n" << frandom.toVector() << std::endl;
-  std::cout << "jdata.S():\n" << data.S.matrix() << std::endl;
-  std::cout << "jdata.S().transpose():\n" << data.S.matrix().transpose() << std::endl;
-  
-  // Direct matrix multiplication works
-  Eigen::Vector3d tau1 = data.S.matrix().transpose() * frandom.toVector();
-  std::cout << "tau1 (S^T * f via matrix): \n" << tau1.transpose() << std::endl;
-
-  // Now data.S.transpose() * frandom works too (bug fixed!)
-  Eigen::Vector3d tau2 = data.S.transpose() * frandom;
-  std::cout << "tau2 (S^T * f via transpose): \n" << tau2.transpose() << std::endl;
-
-  // Verify both methods give the same result
-  BOOST_CHECK(tau1.isApprox(tau2));
-
-  Model modelComposite;
-
-  Inertia inertia(1., Vector3(0.5, 0., 0.0), Matrix3::Identity());
-  SE3 pos(1);
-  pos.translation() = SE3::LinearType(1., 0., 0.);
-
-  JointModelComposite jmodel_composite((JointModelRZ()));
-  jmodel_composite.addJoint(JointModelRY());
-  jmodel_composite.addJoint(JointModelRX());
-
-
-  addJointAndBody(modelComposite, jmodel_composite, 0, pos, "composite", inertia);
-  Data dataComposite(modelComposite);
-
-
-  Eigen::VectorXd q = Eigen::VectorXd::Ones(modelComposite.nq);
-  Eigen::VectorXd v = Eigen::VectorXd::Ones(modelComposite.nv);
-
-  forwardKinematics(modelComposite, dataComposite, q, v);
-
-  Eigen::VectorXd tau = Eigen::VectorXd::Ones(modelComposite.nv);
-
-  // ABA
-  aba(modelComposite,dataComposite,q,v,tau);
-
-  // for later
-  // addJointAndBody(modelEllipsoid, JointModelEllipsoid(1, 2,3), 0, pos, "ellipsoid", inertia);
-  // addJointAndBody(modelFreeflyer, JointModelFreeFlyer(), 0, pos, "free-flyer", inertia);
-
-  // Data dataEllipsoid(modelEllipsoid);
-  // forwardKinematics(modelEllipsoid, dataEllipsoid, q, v);
-
-  // Eigen::VectorXd tauEllipsoid = Eigen::VectorXd::Ones(modelEllipsoid.nv);
-
-  // Eigen::VectorXd aEllipsoid = Eigen::VectorXd::Ones(modelEllipsoid.nv);
-
-  // ForwardDynamics == aba
-  // Eigen::VectorXd aAbaEllipsoid =
-  //  aba(modelEllipsoid, dataEllipsoid, q, v, tauEllipsoid, Convention::WORLD);
-
-  // Calculer jdata.S().transpose() * data.f[i]
-}
 
 BOOST_AUTO_TEST_SUITE_END()