From 6dc66ac9568896d794580e1d4382f03e63b02ebe Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Wed, 4 Jun 2025 10:11:20 +0200 Subject: [PATCH 1/2] Use fixed seed for QP-IK Distance and Gravity test --- src/IK/tests/QPInverseKinematicsTest.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/IK/tests/QPInverseKinematicsTest.cpp b/src/IK/tests/QPInverseKinematicsTest.cpp index db755c55d2..eef3278039 100644 --- a/src/IK/tests/QPInverseKinematicsTest.cpp +++ b/src/IK/tests/QPInverseKinematicsTest.cpp @@ -780,6 +780,10 @@ TEST_CASE("QP-IK [With builder]") TEST_CASE("QP-IK [Distance and Gravity tasks]") { + // iDynTree test helpers are used in customGetRandomModelWithNoPrismaticJoints, so as + // iDynTree uses the C RNG facilities, so we use a reproducible seed for the test + srand(42); + auto kinDyn = std::make_shared(); auto parameterHandler = createParameterHandler(); From ba6c71a911ff3e42ec91c0624fdefd8ec424545d Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Tue, 3 Jun 2025 21:44:46 +0200 Subject: [PATCH 2/2] Remove unused types.h include and fix compilation with osqp 1.0.0 --- src/IK/src/JointLimitsTask.cpp | 1 - src/IK/src/JointVelocityLimitsTask.cpp | 1 - 2 files changed, 2 deletions(-) diff --git a/src/IK/src/JointLimitsTask.cpp b/src/IK/src/JointLimitsTask.cpp index 71316e24ff..917f7370b1 100644 --- a/src/IK/src/JointLimitsTask.cpp +++ b/src/IK/src/JointLimitsTask.cpp @@ -6,7 +6,6 @@ */ #include -#include #include #include diff --git a/src/IK/src/JointVelocityLimitsTask.cpp b/src/IK/src/JointVelocityLimitsTask.cpp index 253d67e0be..e0e488d7e4 100644 --- a/src/IK/src/JointVelocityLimitsTask.cpp +++ b/src/IK/src/JointVelocityLimitsTask.cpp @@ -6,7 +6,6 @@ */ #include -#include #include #include