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corrections

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This commit is contained in:
Vyankatesh
2024-02-26 20:15:22 +05:30
parent 807db881da
commit 3fd0fe7884
1 changed files with 6 additions and 6 deletions
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test/engine/engine_support_test.cc
+6 -6
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@@ -137,26 +137,26 @@ TEST_F(AngMomMatTest, CompareAngMomMats) {
mjtNum agmf[3], agmb[3];
for(int i=0; i < nv; i++) {
// reset vel, forward nudge i-th dof, update data->qvel, reset nudge
mju_copy(dd->qvel, qvel0, mm->nv);
mju_copy(data->qvel, qvel0, model->nv);
nudge[i] = 1;
mju_addToScl(dd->qvel, nudge, eps, mm->nv);
mju_addToScl(data->qvel, nudge, eps, model->nv);
nudge[i] = 0;
// new value of angmom
mj_forward(model, data);
mj_subtreeVel(model, data);
mju_copy3(agmf, dd->subtree_angmom+3*bodyid);
mju_copy3(agmf, data->subtree_angmom+3*bodyid);
// reset vel, backward nudge i-th dof, update data->qvel, reset nudge
mju_copy(dd->qvel, qvel0, mm->nv);
mju_copy(data->qvel, qvel0, model->nv);
nudge[i] = -1;
mju_addToScl(dd->qvel, nudge, eps, mm->nv);
mju_addToScl(data->qvel, nudge, eps, model->nv);
nudge[i] = 0;
// new value of angmom
mj_forward(model, data);
mj_subtreeVel(model, data);
mju_copy3(agmb, dd->subtree_angmom+3*bodyid);
mju_copy3(agmb, data->subtree_angmom+3*bodyid);
for(int j=0; j < 3; j++) {
angmom_mat_fdm[nv*j+i] = (agmf[j] - agmb[j]) / (2 * eps);