Update test comment

opensim-org · Aug 25, 2023 · 0dad1ba · 0dad1ba
1 parent 7505e0f
commit 0dad1ba
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/OpenSim/Moco/Test/testMocoInterface.cpp b/OpenSim/Moco/Test/testMocoInterface.cpp
@@ -1800,7 +1800,9 @@ void testSlidingMass(const std::string& transcriptionScheme) {
 
         // Speed is a piecewise linear function and force is a piecewise
         // constant (bang-bang) function. The speed and force are not
-        // continuous at t = 1.
+        // continuous at t = 1. Trapezoidal collocation happens to avoid the
+        // discrepancies between the direct collocation solutions and the actual
+        // solution at the discontinuity, but other schemes do not.
         double expectedSpeed = t < half ? t : 2.0 - t;
         double expectedForce = t < half ? 10 : -10;
         if (t < half-0.05 || t > half+0.05) {

diff --git a/OpenSim/Sandbox/CMakeLists.txt b/OpenSim/Sandbox/CMakeLists.txt
@@ -21,7 +21,7 @@ OpenSimCopySharedTestFiles(gait10dof18musc_subject01.osim)
 foreach(exec_file ${TO_COMPILE})
     get_filename_component(_target_name ${exec_file} NAME_WE)
     add_executable(${_target_name} EXCLUDE_FROM_ALL ${exec_file})
-    target_link_libraries(${_target_name} osimTools osimMoco)
+    target_link_libraries(${_target_name} osimTools)
     set_target_properties(${_target_name} PROPERTIES
         FOLDER "Future sandbox"
     )

diff --git a/OpenSim/Sandbox/Moco/sandboxSandbox.cpp b/OpenSim/Sandbox/Moco/sandboxSandbox.cpp
@@ -21,6 +21,8 @@
 
 #include <Moco/osimMoco.h>
 
+using namespace OpenSim;
+
 int main() {
     // TODO Logger::setLevel(Logger::Level::Debug);
     MocoTrack track;
@@ -33,4 +35,3 @@ int main() {
     MocoSolution solution = track.solve();
     return EXIT_SUCCESS;
 }
-