Fix flaky transmission_interface tests by making them deterministic. (r…

…os-controls#1665)
StoglRobotics-forks · Aug 13, 2024 · ace8416 · ace8416
1 parent a1ad523
commit ace8416
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/transmission_interface/include/transmission_interface/four_bar_linkage_transmission.hpp b/transmission_interface/include/transmission_interface/four_bar_linkage_transmission.hpp
@@ -289,7 +289,7 @@ inline void FourBarLinkageTransmission::actuator_to_joint()
 
     joint_eff[0].set_value(jr[0] * act_eff[0].get_value() * ar[0]);
     joint_eff[1].set_value(
-      jr[1] * (act_eff[1].get_value() * ar[1] - act_eff[0].get_value() * ar[0] * jr[0]));
+      jr[1] * (act_eff[1].get_value() * ar[1] - jr[0] * act_eff[0].get_value() * ar[0]));
   }
 }
 

diff --git a/transmission_interface/test/random_generator_utils.hpp b/transmission_interface/test/random_generator_utils.hpp
@@ -26,12 +26,14 @@ using std::vector;
 /// \brief Generator of pseudo-random double in the range [min_val, max_val].
 // NOTE: Based on example code available at:
 // http://stackoverflow.com/questions/2860673/initializing-a-c-vector-to-random-values-fast
+// Use a user specified seed instead of system time for deterministic tests
 struct RandomDoubleGenerator
 {
 public:
-  RandomDoubleGenerator(double min_val, double max_val) : min_val_(min_val), max_val_(max_val)
+  RandomDoubleGenerator(double min_val, double max_val, unsigned int seed = 1234)
+  : min_val_(min_val), max_val_(max_val)
   {
-    srand(static_cast<unsigned int>(time(nullptr)));
+    srand(seed);
   }
   double operator()()
   {