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short sim time for unit mem check test
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mebbaid committed Jan 10, 2024
1 parent c48b33c commit aba51f0
Showing 1 changed file with 2 additions and 2 deletions.
4 changes: 2 additions & 2 deletions src/ReducedModelControllers/tests/StableCentroidalMPCTest.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -302,7 +302,7 @@ TEST_CASE("StableCentroidalMPC")
std::chrono::nanoseconds currentTime = 0s;
auto phaseIt = phaseList.getPresentPhase(currentTime);

constexpr int simulationHorizon = 30;
constexpr int simulationHorizon = 10;
std::vector<Eigen::Vector3d> comTrajectoryRecedingHorizon;
for (int i = 0; i < simulationHorizon; i++)
{
Expand Down Expand Up @@ -377,7 +377,7 @@ TEST_CASE("StableCentroidalMPC")
const auto& [com, dcom, angularMomentum] = system->getState();

// We check that the robot walked forward keeping the CoM height almost constant
REQUIRE(com(0) > 0.0);
REQUIRE(com(0) > 0.05);
REQUIRE(std::abs(com(1) - com0(1)) < 0.1);
REQUIRE(std::abs(com(2) - com0(2)) < 0.005);
}

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