contact-dynamics-derivatives.cpp File Reference

#include <iostream>
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/frames.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/parsers/srdf.hpp"
#include "pinocchio/algorithm/aba-derivatives.hpp"
#include "pinocchio/algorithm/kinematics-derivatives.hpp"
#include "pinocchio/algorithm/frames-derivatives.hpp"
#include "pinocchio/algorithm/constrained-dynamics.hpp"
#include "pinocchio/algorithm/constrained-dynamics-derivatives.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include "pinocchio/spatial/classic-acceleration.hpp"
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>

Include dependency graph for contact-dynamics-derivatives.cpp:

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Macros
#define	KD   10
#define	KP   10

Functions
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_dirty_data)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_LOCAL_3D_fd)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_LOCAL_3D_fd_prox)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_LOCAL_3D_loop_closure_j1j2_fd)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_LOCAL_3D_loop_closure_j2_fd)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_LOCAL_6D_fd)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_LOCAL_6D_loop_closure_j1j2_fd)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_LOCAL_6D_loop_closure_j2_fd)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_LOCAL_loop_closure_3D_fd_prox)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_LOCAL_WORL_ALIGNED_6D_loop_closure_j1j2_fd)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_LOCAL_WORLD_ALIGNED_3D_fd)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_LOCAL_WORLD_ALIGNED_3D_loop_closure_j1j2_fd)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_LOCAL_WORLD_ALIGNED_6D_fd)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_loop_closure_kinematics_fd)
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_derivatives_mix_fd)
	BOOST_AUTO_TEST_CASE (test_correction_6D)
	BOOST_AUTO_TEST_CASE (test_sparse_constraint_dynamics_derivatives)
	BOOST_AUTO_TEST_CASE (test_sparse_constraint_dynamics_derivatives_no_contact)
pinocchio::Motion	computeAcceleration (const pinocchio::Model &model, const pinocchio::Data &data, const pinocchio::JointIndex &joint_id, const pinocchio::ReferenceFrame reference_frame, const pinocchio::ContactType contact_type, const pinocchio::SE3 &placement=pinocchio::SE3::Identity())
void	computeVelocityAndAccelerationErrors (const Model &model, const RigidConstraintModel &cmodel, const VectorXd &q, const VectorXd &v, const VectorXd &a, Motion &v_error, Motion &a_error, const VectorXd &Kp, const VectorXd &Kd)
	createData (const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &constraint_models)
pinocchio::Motion	getContactAcceleration (const Model &model, const Data &data, const RigidConstraintModel &cmodel, const pinocchio::SE3 &c1Mc2=SE3::Identity())

Macro Definition Documentation

KD

#define KD   10

Definition at line 31 of file contact-dynamics-derivatives.cpp.

KP

#define KP   10

Definition at line 30 of file contact-dynamics-derivatives.cpp.

Function Documentation

BOOST_AUTO_TEST_CASE() [1/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_dirty_data

)

Definition at line 2447 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [2/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_LOCAL_3D_fd

)

Definition at line 611 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [3/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_LOCAL_3D_fd_prox

)

Definition at line 730 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [4/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_LOCAL_3D_loop_closure_j1j2_fd

)

Definition at line 1629 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [5/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_LOCAL_3D_loop_closure_j2_fd

)

Definition at line 990 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [6/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_LOCAL_6D_fd

)

Definition at line 291 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [7/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_LOCAL_6D_loop_closure_j1j2_fd

)

Definition at line 1323 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [8/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_LOCAL_6D_loop_closure_j2_fd

)

Definition at line 1148 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [9/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_LOCAL_loop_closure_3D_fd_prox

)

Definition at line 858 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [10/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_LOCAL_WORL_ALIGNED_6D_loop_closure_j1j2_fd

)

Definition at line 1500 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [11/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_LOCAL_WORLD_ALIGNED_3D_fd

)

Definition at line 2003 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [12/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_LOCAL_WORLD_ALIGNED_3D_loop_closure_j1j2_fd

)

Definition at line 1755 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [13/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_LOCAL_WORLD_ALIGNED_6D_fd

)

Definition at line 1885 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [14/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_loop_closure_kinematics_fd

)

Definition at line 2322 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [15/18]

BOOST_AUTO_TEST_CASE

(

test_constraint_dynamics_derivatives_mix_fd

)

Definition at line 2120 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [16/18]

BOOST_AUTO_TEST_CASE

(

test_correction_6D

)

Definition at line 419 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [17/18]

BOOST_AUTO_TEST_CASE

(

test_sparse_constraint_dynamics_derivatives

)

Definition at line 99 of file contact-dynamics-derivatives.cpp.

BOOST_AUTO_TEST_CASE() [18/18]

BOOST_AUTO_TEST_CASE

(

test_sparse_constraint_dynamics_derivatives_no_contact

)

Definition at line 38 of file contact-dynamics-derivatives.cpp.

computeAcceleration()

pinocchio::Motion computeAcceleration	(	const pinocchio::Model &	model,
		const pinocchio::Data &	data,
		const pinocchio::JointIndex &	joint_id,
		const pinocchio::ReferenceFrame	reference_frame,
		const pinocchio::ContactType	contact_type,
		const pinocchio::SE3 &	placement = pinocchio::SE3::Identity()
	)

Definition at line 221 of file contact-dynamics-derivatives.cpp.

computeVelocityAndAccelerationErrors()

void computeVelocityAndAccelerationErrors	(	const Model &	model,
		const RigidConstraintModel &	cmodel,
		const VectorXd &	q,
		const VectorXd &	v,
		const VectorXd &	a,
		Motion &	v_error,
		Motion &	a_error,
		const VectorXd &	Kp,
		const VectorXd &	Kd
	)

Definition at line 1117 of file contact-dynamics-derivatives.cpp.

createData()

createData

(

const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &

constraint_models

)

Definition at line 408 of file contact-dynamics-derivatives.cpp.

getContactAcceleration()

pinocchio::Motion getContactAcceleration	(	const Model &	model,
		const Data &	data,
		const RigidConstraintModel &	cmodel,
		const pinocchio::SE3 &	c1Mc2 = SE3::Identity()
	)

Definition at line 273 of file contact-dynamics-derivatives.cpp.