Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

change 4 spaces to tab for src/BulletInverseDynamics

Browse Source 
fix unit test in single precision compilation (use delta t of 0.01 if BT_ID_USE_DOUBLE_PRECISION is not defined)
This commit is contained in:
erwincoumans
2015-11-19 12:08:04 -08:00
parent 069936218a
commit 75d657ec85
15 changed files with 2097 additions and 2089 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/BulletInverseDynamics/IDConfig.hpp
View File

@@ -8,6 +8,7 @@
#define BT_ID_POW(a,b) std::pow(a,b) #define BT_ID_POW(a,b) std::pow(a,b)
#define BT_ID_SNPRINTF snprintf #define BT_ID_SNPRINTF snprintf
#define BT_ID_PI M_PI #define BT_ID_PI M_PI
#define BT_ID_USE_DOUBLE_PRECISION
#else #else
#define BT_ID_POW(a,b) btPow(a,b) #define BT_ID_POW(a,b) btPow(a,b)
#define BT_ID_PI SIMD_PI #define BT_ID_PI SIMD_PI
@@ -33,6 +34,9 @@
// Use the same scalar type as rest of bullet library // Use the same scalar type as rest of bullet library
#include "LinearMath/btScalar.h" #include "LinearMath/btScalar.h"
typedef btScalar idScalar; typedef btScalar idScalar;
#ifdef BT_USE_DOUBLE_PRECISION
#define BT_ID_USE_DOUBLE_PRECISION
#endif
// use bullet types for arrays and array indices // use bullet types for arrays and array indices
#include "Bullet3Common/b3AlignedObjectArray.h" #include "Bullet3Common/b3AlignedObjectArray.h"
// this is to make it work with C++2003, otherwise we could do this: // this is to make it work with C++2003, otherwise we could do this:

4
test/InverseDynamics/test_invdyn_kinematics.cpp
View File

@@ -248,7 +248,11 @@ int calculateDifferentiationError(const MultiBodyTreeCreator& creator, idScalar
// first test: absolute difference between numerical and numerial // first test: absolute difference between numerical and numerial
// differentiation should be small // differentiation should be small
TEST(InvDynKinematicsDifferentiation, errorAbsolute) { TEST(InvDynKinematicsDifferentiation, errorAbsolute) {
#ifdef BT_ID_USE_DOUBLE_PRECISION
const idScalar kDeltaT = 1e-7; const idScalar kDeltaT = 1e-7;
#else
const idScalar kDeltaT = 1e-2;
#endif
const idScalar kDuration = 1e-2; const idScalar kDuration = 1e-2;
const idScalar kAcceptableError = 1e-4; const idScalar kAcceptableError = 1e-4;