Testing using the integrator with the ZMP differential equation instead. Here: z = c - 1/(omega**2) ddc Thus: ddc = omega**2

Simple overlap tests

Simple polygon contains test

Checking that overconstrained equalities solve raise an exception

We set the floating base to one target frame and check that the frame is indeed where we wanted it to be

The operator / allow to stack expressions

Planning a footstep trajectory and remaking it with a different target

Planning a swing trajectory and remaking it with the same target should result in the same trajectory

Checks that we obtain the same solution for a given problem with sparsity enabled or disabled

Performs basic checks on the wrapper

Testing loading a robot from an URDF stream instead of URDF file