use same freq for unit test as applicaiton to increase speed

ami-iit · Nov 3, 2023 · db43671 · db43671
1 parent b5b4585
commit db43671
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/src/ReducedModelControllers/src/StableCentroidalMPC.cpp b/src/ReducedModelControllers/src/StableCentroidalMPC.cpp
@@ -43,8 +43,8 @@ struct StableCentroidalMPC::Impl
 
     struct StableConstants
     {
-        const double alpha = 0.1;
-        const double k1 = 10.0;
+        const double alpha = 0.3;
+        const double k1 = 3.0;
     };
     StableConstants stableConstants;
 
@@ -790,7 +790,7 @@ struct StableCentroidalMPC::Impl
                         + casadi::MX::mtimes(z2(Sl(), 0).T(), averageForce - u_adaptive)
                     <= 0.0);
 
-       this->opti.subject_to(casadi::MX::mtimes(angularMomentum(Sl(),1).T() , angularMomentum(Sl(),1))  <= this->stableConstants.alpha );
+        this->opti.subject_to(casadi::MX::mtimes(angularMomentum(Sl(),1).T() , angularMomentum(Sl(),1))  <= this->stableConstants.alpha );
 
         for (const auto& [key, contact] : this->optiVariables.contacts)
         {

diff --git a/src/ReducedModelControllers/tests/StableCentroidalMPCTest.cpp b/src/ReducedModelControllers/tests/StableCentroidalMPCTest.cpp
@@ -88,11 +88,11 @@ TEST_CASE("StableCentroidalMPC")
     constexpr bool saveDataset = true;
 
     using namespace std::chrono_literals;
-    constexpr std::chrono::nanoseconds dT = 100ms;
+    constexpr std::chrono::nanoseconds dT = 200ms;
 
     std::shared_ptr<IParametersHandler> handler = std::make_shared<StdImplementation>();
     handler->setParameter("sampling_time", dT);
-    handler->setParameter("time_horizon", 1s + 250ms);
+    handler->setParameter("time_horizon", 1s + 200ms);
     handler->setParameter("number_of_maximum_contacts", 2);
     handler->setParameter("number_of_slices", 1);
     handler->setParameter("static_friction_coefficient", 0.33);
@@ -123,7 +123,7 @@ TEST_CASE("StableCentroidalMPC")
     handler->setGroup("CONTACT_0", contact0Handler);
     handler->setGroup("CONTACT_1", contact1Handler);
 
-    handler->setParameter("com_weight", std::vector<double>{1, 1, 200});
+    handler->setParameter("com_weight", std::vector<double>{1, 1, 1000});
     handler->setParameter("contact_position_weight", 2e2);
     handler->setParameter("force_rate_of_change_weight", std::vector<double>{10, 10, 10});
     handler->setParameter("angular_momentum_weight", 1e2);