From fb12fa70d72567a5178901ac01b7ad8ec29ff374 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Fri, 1 Sep 2023 11:11:21 +0200 Subject: [PATCH] Fix name of FT sensors in FT sensor orientation test in ergocub-model-test.cpp (#166) --- tests/ergocub-model-test.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/tests/ergocub-model-test.cpp b/tests/ergocub-model-test.cpp index ea646d3e..75188513 100644 --- a/tests/ergocub-model-test.cpp +++ b/tests/ergocub-model-test.cpp @@ -486,14 +486,14 @@ bool checkFTSensorsAreCorrectlyOriented(iDynTree::KinDynComputations & comp) 0.5, 0.866025, 0, 0, 0, -1); - bool ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameLeftArmExpected, "l_arm_ft_sensor"); - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameRightArmExpected, "r_arm_ft_sensor") && ok; - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_L_sensorFrameExpectedLeg, "l_leg_ft_sensor") && ok; - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedLeg, "r_leg_ft_sensor") && ok; - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_rear_ft_sensor") && ok; - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_rear_ft_sensor") && ok; - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_front_ft_sensor") && ok; - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_front_ft_sensor") && ok; + bool ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameLeftArmExpected, "l_arm_ft"); + ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameRightArmExpected, "r_arm_ft") && ok; + ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_L_sensorFrameExpectedLeg, "l_leg_ft") && ok; + ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedLeg, "r_leg_ft") && ok; + ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_rear_ft") && ok; + ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_rear_ft") && ok; + ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_front_ft") && ok; + ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_front_ft") && ok; return ok; }