[multibody] Refactor MbP direct feedthrough test for usability - Githubissues

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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[multibody] Refactor MbP direct feedthrough test for usability #21638

Closed jwnimmer-tri closed 5 days ago

jwnimmer-tri commented 5 days ago

Write down a concise manifest of feedthrough expectations.
Check that nothing is forgotten in the manifest.
Use matchers so that gtest prints the differences on error.

Towards https://github.com/RobotLocomotion/drake/pull/21623 and therefore also https://github.com/RobotLocomotion/drake/issues/20545.

This change is