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ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots
https://ami-iit.github.io/bipedal-locomotion-framework/
BSD 3-Clause "New" or "Revised" License
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add UnicyclePlanner unit test #815

Closed mebbaid closed 4 months ago

mebbaid commented 4 months ago

While using the unicycle planner with the centroidal mpc client app. Initially i was using the planner in robotology, then realized that the planner was added to bipedal (with some modifications).

Trying to understand its structure, i typically rely on the unit tests codes and I realized there is not a unit test code for the UnicyclePlanner class. I am not sure if that omission is by design, but in case it is not, I added a unit test. Feel free to discard or merge.

mebbaid commented 4 months ago

Thanks a lot @mebbaid! Maybe we can disable the saving to file for the time being

Agreed, it was left there while I was testing. Resolved in https://github.com/ami-iit/bipedal-locomotion-framework/pull/815/commits/87c54e16d22c7e8477431a3edc4252bc647f5976