()
| 140 | |
| 141 | |
| 142 | def test_step(): |
| 143 | model = pin.buildSampleModelManipulator() |
| 144 | geom_model = pin.buildSampleGeometryModelManipulator(model) |
| 145 | data = model.createData() |
| 146 | geom_data = geom_model.createData() |
| 147 | |
| 148 | sim = simple.Simulator(model, data, geom_model, geom_data) |
| 149 | |
| 150 | q = pin.randomConfiguration(model) |
| 151 | v = np.random.random(model.nv) |
| 152 | tau = np.random.random(model.nv) |
| 153 | dt = 1e-3 |
| 154 | sim.step(q, v, tau, dt) |
| 155 | |
| 156 | fext = [pin.Force(np.random.random(6)) for i in range(model.njoints)] |
| 157 | sim.step(q, v, tau, fext, dt) |
| 158 | assert True |
| 159 | |
| 160 | |
| 161 | def test_step_balls(): |
nothing calls this directly
no outgoing calls
no test coverage detected