short sim time for unit mem check test

ami-iit · Nov 7, 2023 · 17b1a0f · 17b1a0f
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,6 +2,8 @@
 All notable changes to this project are documented in this file.
 
 ## [Unreleased]
+- Restructured the `ReducedModelControllers` adding the `StableCentroidalMPC`  (https://github.com/ami-iit/bipedal-locomotion-framework/pull/734)
+
 ### Added
 - Add the possibility to control a subset of coordinates in `TSID::CoMTask` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/724, https://github.com/ami-iit/bipedal-locomotion-framework/pull/727)
 - Add the possibility to set the maximum number of accepted deadline miss in `System::AdvanceableRunner` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/726)

diff --git a/src/ReducedModelControllers/tests/StableCentroidalMPCTest.cpp b/src/ReducedModelControllers/tests/StableCentroidalMPCTest.cpp
@@ -308,7 +308,7 @@ TEST_CASE("StableCentroidalMPC")
     std::chrono::nanoseconds currentTime = 0s;
     auto phaseIt = phaseList.getPresentPhase(currentTime);
 
-    constexpr int simulationHorizon = 30;
+    constexpr int simulationHorizon = 10;
     std::vector<Eigen::Vector3d> comTrajectoryRecedingHorizon;
     for (int i = 0; i < simulationHorizon; i++)
     {
@@ -379,7 +379,7 @@ TEST_CASE("StableCentroidalMPC")
     const auto& [com, dcom, angularMomentum] = system->getState();
 
     // We check that the robot walked forward keeping the CoM height almost constant
-    REQUIRE(com(0) > 0.0);
+    REQUIRE(com(0) > 0.05);
     REQUIRE(std::abs(com(1) - com0(1)) < 0.1);
     REQUIRE(std::abs(com(2) - com0(2)) < 0.005);
 }