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Fix/debug mode asserts #45

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Fix/debug mode asserts #45

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15714b1
wrong matrix size
farbod-farshidian Aug 5, 2022
8009229
preventing asynchronous tracking in debug mode
farbod-farshidian Aug 5, 2022
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2 changes: 1 addition & 1 deletion ocs2_pinocchio/ocs2_centroidal_model/src/CentroidalModelRbdConversions.cpp
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Expand Up @@ -81,7 +81,7 @@ void CentroidalModelRbdConversions::computeBaseKinematicsFromCentroidalModel(con
const Vector3 derivativeEulerAnglesZyx = vPinocchio.segment<3>(3);
baseVelocity.tail<3>() = getGlobalAngularVelocityFromEulerAnglesZyxDerivatives<scalar_t>(baseOrientation, derivativeEulerAnglesZyx);

const Matrix6 Adot = pinocchio::dccrba(model, data, qPinocchio, vPinocchio);
const auto Adot = pinocchio::dccrba(model, data, qPinocchio, vPinocchio);
Vector6 centroidalMomentumRate = info.robotMass * getNormalizedCentroidalMomentumRate(pinocchioInterface_, info, input);
centroidalMomentumRate.noalias() -= Adot * vPinocchio;
centroidalMomentumRate.noalias() -= Aj * jointAccelerations.head(info.actuatedDofNum);
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2 changes: 2 additions & 0 deletions ocs2_robotic_examples/ocs2_double_integrator/test/DoubleIntegratorNoRosIntegrationTest.cpp
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Expand Up @@ -153,6 +153,7 @@ TEST_F(DoubleIntegratorIntegrationTest, coldStartMPC) {
ASSERT_NEAR(observation.state(0), goalState(0), tolerance);
}

#ifdef NDEBUG
TEST_F(DoubleIntegratorIntegrationTest, asynchronousTracking) {
auto mpcPtr = getMpc(true);
MPC_MRT_Interface mpcInterface(*mpcPtr);
Expand Down Expand Up @@ -207,3 +208,4 @@ TEST_F(DoubleIntegratorIntegrationTest, asynchronousTracking) {

ASSERT_NEAR(observation.state(0), goalState(0), tolerance);
}
#endif
2 changes: 2 additions & 0 deletions ocs2_robotic_examples/ocs2_mobile_manipulator/test/testDummyMobileManipulator.cpp
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Expand Up @@ -199,6 +199,7 @@ TEST_P(DummyMobileManipulatorParametersTests, synchronousTracking) {
verifyTrackingQuality(observation.state);
}

#ifdef NDEBUG
TEST_P(DummyMobileManipulatorParametersTests, asynchronousTracking) {
// Obtain mpc
initialize(getTaskFile(), getLibFolder(), getUrdfFile());
Expand Down Expand Up @@ -258,6 +259,7 @@ TEST_P(DummyMobileManipulatorParametersTests, asynchronousTracking) {

verifyTrackingQuality(observation.state);
}
#endif

/******************************************************************************************************/
/******************************************************************************************************/
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