From c6d76e558e8ad3e485cdda8f22ca6a023a6c5043 Mon Sep 17 00:00:00 2001 From: mebbaid Date: Wed, 10 Jan 2024 11:40:52 +0100 Subject: [PATCH] rebase on top of master --- src/ReducedModelControllers/tests/StableCentroidalMPCTest.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/ReducedModelControllers/tests/StableCentroidalMPCTest.cpp b/src/ReducedModelControllers/tests/StableCentroidalMPCTest.cpp index dc4d1af6f1..2e334d755c 100644 --- a/src/ReducedModelControllers/tests/StableCentroidalMPCTest.cpp +++ b/src/ReducedModelControllers/tests/StableCentroidalMPCTest.cpp @@ -302,7 +302,7 @@ TEST_CASE("StableCentroidalMPC") std::chrono::nanoseconds currentTime = 0s; auto phaseIt = phaseList.getPresentPhase(currentTime); - constexpr int simulationHorizon = 10; + constexpr int simulationHorizon = 30; std::vector comTrajectoryRecedingHorizon; for (int i = 0; i < simulationHorizon; i++) { @@ -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) > 0.05); + REQUIRE(com(0) > 0.1); REQUIRE(std::abs(com(1) - com0(1)) < 0.1); REQUIRE(std::abs(com(2) - com0(2)) < 0.005); }