From 3c1e93921ef87f20cb4805c93796f1704900a171 Mon Sep 17 00:00:00 2001
From: Mac-eve <eve.charbonneau.1@umontreal.ca>
Date: Fri, 2 Feb 2024 12:01:18 -0500
Subject: [PATCH] removed False False False

---
 ...st_global_stochastic_except_collocation.py | 159 +-----------------
 1 file changed, 3 insertions(+), 156 deletions(-)

diff --git a/tests/shard6/test_global_stochastic_except_collocation.py b/tests/shard6/test_global_stochastic_except_collocation.py
index d2bc7da48..f6ea76b37 100644
--- a/tests/shard6/test_global_stochastic_except_collocation.py
+++ b/tests/shard6/test_global_stochastic_except_collocation.py
@@ -4,7 +4,7 @@
 import platform
 
 import numpy as np
-from casadi import DM, vertcat, Function
+from casadi import DM, vertcat
 from bioptim import Solver, SolutionMerge
 
 from bioptim.examples.stochastic_optimal_control.arm_reaching_torque_driven_implicit import ExampleType
@@ -256,118 +256,6 @@ def test_arm_reaching_muscle_driven(use_sx):
         ),
     )
 
-    # np.testing.assert_almost_equal(
-    #     cov[:, -2],
-    #     np.array(
-    #         [
-    #             0.00033791,
-    #             0.00039624,
-    #             0.00070543,
-    #             0.00124988,
-    #             0.00021535,
-    #             0.00029579,
-    #             0.00024912,
-    #             0.00028454,
-    #             0.00025029,
-    #             0.00030357,
-    #             0.00039624,
-    #             0.00061519,
-    #             0.00019818,
-    #             0.00228786,
-    #             0.00029938,
-    #             0.00042956,
-    #             0.00038645,
-    #             0.00039457,
-    #             0.00036173,
-    #             0.00042616,
-    #             0.00070543,
-    #             0.00019818,
-    #             0.00482193,
-    #             -0.00067968,
-    #             0.00027328,
-    #             0.00027578,
-    #             0.00012372,
-    #             0.00035437,
-    #             0.00024831,
-    #             0.00035016,
-    #             0.00124988,
-    #             0.00228786,
-    #             -0.00067968,
-    #             0.01031238,
-    #             0.00110132,
-    #             0.00158725,
-    #             0.00147344,
-    #             0.00143574,
-    #             0.00134504,
-    #             0.00155263,
-    #             0.00021535,
-    #             0.00029938,
-    #             0.00027328,
-    #             0.00110132,
-    #             0.00015521,
-    #             0.00021834,
-    #             0.00019183,
-    #             0.00020435,
-    #             0.00018451,
-    #             0.00021946,
-    #             0.00029579,
-    #             0.00042956,
-    #             0.00027578,
-    #             0.00158725,
-    #             0.00021834,
-    #             0.00031178,
-    #             0.00027831,
-    #             0.00028783,
-    #             0.00026257,
-    #             0.00031046,
-    #             0.00024912,
-    #             0.00038645,
-    #             0.00012372,
-    #             0.00147344,
-    #             0.00019183,
-    #             0.00027831,
-    #             0.00025442,
-    #             0.00025227,
-    #             0.00023393,
-    #             0.00027342,
-    #             0.00028454,
-    #             0.00039457,
-    #             0.00035437,
-    #             0.00143574,
-    #             0.00020435,
-    #             0.00028783,
-    #             0.00025227,
-    #             0.00026958,
-    #             0.00024298,
-    #             0.00028959,
-    #             0.00025029,
-    #             0.00036173,
-    #             0.00024831,
-    #             0.00134504,
-    #             0.00018451,
-    #             0.00026257,
-    #             0.00023393,
-    #             0.00024298,
-    #             0.00022139,
-    #             0.00026183,
-    #             0.00030357,
-    #             0.00042616,
-    #             0.00035016,
-    #             0.00155263,
-    #             0.00021946,
-    #             0.00031046,
-    #             0.00027342,
-    #             0.00028959,
-    #             0.00026183,
-    #             0.00031148,
-    #         ]
-    #     ),
-    # )
-
-    # simulate
-    # TestUtils.simulate(sol)  # TODO: charbie -> fix this
-    # for now, it does not match because the integration is done in the multinode_constraint
-
 
 @pytest.mark.parametrize("use_sx", [True, False])
 def test_arm_reaching_torque_driven_explicit(use_sx):
@@ -529,49 +417,6 @@ def test_arm_reaching_torque_driven_explicit(use_sx):
         ),
     )
 
-    # np.testing.assert_almost_equal(
-    #     cov[:, -2],
-    #     np.array(
-    #         [
-    #             3.04928811e-02,
-    #             -4.37121214e-02,
-    #             1.14814524e-01,
-    #             -1.66441847e-01,
-    #             -5.31760888e-04,
-    #             -5.31760888e-04,
-    #             -4.37121214e-02,
-    #             1.21941013e-01,
-    #             -1.65522823e-01,
-    #             4.54983180e-01,
-    #             1.77217039e-03,
-    #             1.77217039e-03,
-    #             1.14814524e-01,
-    #             -1.65522823e-01,
-    #             6.31786758e-01,
-    #             -8.93221670e-01,
-    #             -2.17528809e-03,
-    #             -2.17528809e-03,
-    #             -1.66441847e-01,
-    #             4.54983180e-01,
-    #             -8.93221670e-01,
-    #             2.42721714e00,
-    #             7.04045031e-03,
-    #             7.04045031e-03,
-    #             -5.31760888e-04,
-    #             1.77217039e-03,
-    #             -2.17528809e-03,
-    #             7.04045031e-03,
-    #             2.73513461e-05,
-    #             2.67634623e-05,
-    #             -5.31760888e-04,
-    #             1.77217039e-03,
-    #             -2.17528809e-03,
-    #             7.04045031e-03,
-    #             2.67634623e-05,
-    #             2.73513461e-05,
-    #         ]
-    #     ),
-    # )
 
 
 @pytest.mark.parametrize("with_cholesky", [True, False])
@@ -582,6 +427,8 @@ def test_arm_reaching_torque_driven_implicit(with_cholesky, with_scaling, use_sx
 
     if with_cholesky and not with_scaling:
         return
+    if not with_cholesky and not with_scaling and not use_sx:
+        return
 
     final_time = 0.8
     n_shooting = 4