From 3fd0fe7884b7cf2e400a0cdb851b7513d80133e6 Mon Sep 17 00:00:00 2001 From: Vyankatesh Date: Mon, 26 Feb 2024 20:15:22 +0530 Subject: [PATCH] corrections --- test/engine/engine_support_test.cc | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/test/engine/engine_support_test.cc b/test/engine/engine_support_test.cc index daa5ea38..eedb9741 100644 --- a/test/engine/engine_support_test.cc +++ b/test/engine/engine_support_test.cc @@ -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);