| 26 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
| 27 | |
| 28 | void addFloorToGeomModel(GeometryModel & geom_model) |
| 29 | { |
| 30 | using CollisionGeometryPtr = GeometryObject::CollisionGeometryPtr; |
| 31 | |
| 32 | CollisionGeometryPtr floor_collision_shape = CollisionGeometryPtr(new hpp::fcl::Halfspace(0.0, 0.0, 1.0, 0.0)); |
| 33 | |
| 34 | const SE3 M = SE3::Identity(); |
| 35 | GeometryObject floor("floor", 0, 0, M, floor_collision_shape); |
| 36 | geom_model.addGeometryObject(floor); |
| 37 | } |
| 38 | |
| 39 | void addSystemCollisionPairs(const Model & model, GeometryModel & geom_model, const Eigen::VectorXd & qref) |
| 40 | { |
no outgoing calls
no test coverage detected