bm - change the muscle order in ICRA2015 tests based on the updated b…

…uilder tools
NASA-Tensegrity-Robotics-Toolkit · Apr 4, 2016 · 2e346b0 · 2e346b0
1 parent 19397ed
commit 2e346b0
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Showing 2 changed files with 22 additions and 34 deletions.
diff --git a/test_integration/ICRA2015Tests/CMakeLists.txt b/test_integration/ICRA2015Tests/CMakeLists.txt
@@ -3,23 +3,11 @@ link_directories(${ENV_LIB_DIR} ${NTRT_BUILD_DIR})
 link_libraries(
                 tgOpenGLSupport)
 
-#add_executable(ICRA2015_test
-#  ICRA2015_test.cpp)
-
-#target_link_libraries(ICRA2015_test ${ENV_LIB_DIR}/libgtest.a pthread 
-#			${NTRT_BUILD_DIR}/core/libcore.so 
-#			${NTRT_BUILD_DIR}/helpers/libFileHelpers.so 
-#			${NTRT_BUILD_DIR}/examples/learningSpines/liblearningSpines.so 
-#			${NTRT_BUILD_DIR}/dev/btietz/TetraSpineStatic/libtetraSpineHardware.so)
-
-# Temporary test that replaces ICRA2015_test while github issue 191 is worked on.
-# This is the same test as ICRA2015_test but uses a model that defines muscle pairs in a
-# different order (see github issue 191 for more details).
-add_executable(ICRA2015_pair_ordering_test
-  ICRA2015_pair_ordering_test.cpp)
-
-target_link_libraries(ICRA2015_pair_ordering_test ${ENV_LIB_DIR}/libgtest.a pthread
-     ${NTRT_BUILD_DIR}/core/libcore.so
-     ${NTRT_BUILD_DIR}/helpers/libFileHelpers.so
-     ${NTRT_BUILD_DIR}/examples/learningSpines/liblearningSpines.so
-     ${NTRT_BUILD_DIR}/dev/btietz/TetraSpineStatic/libtetraSpineHardware.so)
+add_executable(ICRA2015_test
+  ICRA2015_test.cpp)
+
+target_link_libraries(ICRA2015_test ${ENV_LIB_DIR}/libgtest.a pthread 
+			${NTRT_BUILD_DIR}/core/libcore.so 
+			${NTRT_BUILD_DIR}/helpers/libFileHelpers.so 
+			${NTRT_BUILD_DIR}/examples/learningSpines/liblearningSpines.so 
+			${NTRT_BUILD_DIR}/dev/btietz/TetraSpineStatic/libtetraSpineHardware.so)
diff --git a/test_integration/ICRA2015Tests/ICRA2015_test.cpp b/test_integration/ICRA2015Tests/ICRA2015_test.cpp
@@ -130,23 +130,23 @@ namespace {
 				 * as of 2/28/15. Try to make them smaller!
 				 */
 				double error;
-				std::cout << "Inner front top max tension " << simMaxTens[1] / 100.0 << " N" << std::endl;
-				error = abs ((34.3954 - simMaxTens[1] / 100.0) / 34.3954);
+				std::cout << "Inner front top max tension " << simMaxTens[5] / 100.0 << " N" << std::endl;
+				error = abs ((34.3954 - simMaxTens[5] / 100.0) / 34.3954);
 				EXPECT_LE(error, 0.06);
-				std::cout << "Inner front left max tension " << simMaxTens[5] / 100.0 << " N" << std::endl;
-				error = abs ((18.0986 - simMaxTens[5] / 100.0) / 18.0986);
+				std::cout << "Inner front left max tension " << simMaxTens[4] / 100.0 << " N" << std::endl;
+				error = abs ((18.0986 - simMaxTens[4] / 100.0) / 18.0986);
 				EXPECT_LE(error, 0.0715);
-				std::cout << "Inner front right max tension " << simMaxTens[9] / 100.0 << " N" << std::endl;
-				error = abs ((22.0161 - simMaxTens[9] / 100.0) / 22.0161);
-				EXPECT_LE(error, 0.06);
-				std::cout << "Outer front top max tension " << simMaxTens[0] / 100.0 << " N" << std::endl;
-				error = abs ((24.6800 - simMaxTens[0] / 100.0) / 24.6800);
+				std::cout << "Inner front right max tension " << simMaxTens[3] / 100.0 << " N" << std::endl;
+				error = abs ((22.0161 - simMaxTens[3] / 100.0) / 22.0161);
+				EXPECT_LE(error, 0.0601);
+				std::cout << "Outer front top max tension " << simMaxTens[2] / 100.0 << " N" << std::endl;
+				error = abs ((24.6800 - simMaxTens[2] / 100.0) / 24.6800);
 				EXPECT_LE(error, 0.19);
-				std::cout << "Outer front left max tension " << simMaxTens[4] / 100.0 << " N" << std::endl;
-				error = abs ((15.5914 - simMaxTens[4] / 100.0) / 15.5914);
-				EXPECT_LE(error, 0.35);
-				std::cout << "Outer front right max tension " << simMaxTens[8] / 100.0 << " N" << std::endl;
-				error = abs ((14.1811 - simMaxTens[8] / 100.0) / 14.1811);
+				std::cout << "Outer front left max tension " << simMaxTens[1] / 100.0 << " N" << std::endl;
+				error = abs ((15.5914 - simMaxTens[1] / 100.0) / 15.5914);
+				EXPECT_LE(error, 0.3501);
+				std::cout << "Outer front right max tension " << simMaxTens[0] / 100.0 << " N" << std::endl;
+				error = abs ((14.1811 - simMaxTens[0] / 100.0) / 14.1811);
 				EXPECT_LE(error, 0.2251);
 
 				/** @todo test median tension as well, also maybe sum of errors **/