#include "jacobiandottest.hpp"
Go to the source code of this file.
Namespaces | |
namespace | KDL |
Functions | |
void | changeRepresentation (Jacobian &J, const Frame &F_bs_ee, const int &representation) |
double | compare_d2_Jdot_Symbolic_vs_Solver (bool verbose) |
double | compare_Jdot_Diff_vs_Solver (const Chain &chain, const double &dt, const int &representation, bool verbose) |
CPPUNIT_TEST_SUITE_REGISTRATION (JacobianDotTest) | |
Chain | KDL::d2 () |
Chain | KDL::d6 () |
JntArray | diff (const JntArray &q, const JntArray &qdot, const double &dt) |
Jacobian | J_d2_symbolic (const JntArray &q, const JntArray &qdot) |
Jacobian | Jdot_d2_symbolic (const JntArray &q, const JntArray &qdot) |
void | Jdot_diff (const Jacobian &J_q, const Jacobian &J_qdt, const double &dt, Jacobian &Jdot) |
Chain | KDL::KukaLWR_DHnew () |
void | random (JntArray &q) |
bool | runTest (const Chain &chain, const int &representation) |
Variables | |
static const double | KDL::L0 = 1.0 |
static const double | KDL::L1 = 0.5 |
static const double | KDL::L2 = 0.4 |
static const double | KDL::L3 = 0 |
static const double | KDL::L4 = 0 |
static const double | KDL::L5 = 0 |
void changeRepresentation | ( | Jacobian & | J, |
const Frame & | F_bs_ee, | ||
const int & | representation | ||
) |
Definition at line 93 of file jacobiandottest.cpp.
double compare_d2_Jdot_Symbolic_vs_Solver | ( | bool | verbose | ) |
Definition at line 213 of file jacobiandottest.cpp.
double compare_Jdot_Diff_vs_Solver | ( | const Chain & | chain, |
const double & | dt, | ||
const int & | representation, | ||
bool | verbose | ||
) |
Definition at line 160 of file jacobiandottest.cpp.
Definition at line 146 of file jacobiandottest.cpp.
Jacobian J_d2_symbolic | ( | const JntArray & | q, |
const JntArray & | qdot | ||
) |
Definition at line 133 of file jacobiandottest.cpp.
Jacobian Jdot_d2_symbolic | ( | const JntArray & | q, |
const JntArray & | qdot | ||
) |
Definition at line 121 of file jacobiandottest.cpp.
Definition at line 109 of file jacobiandottest.cpp.
Definition at line 154 of file jacobiandottest.cpp.
Definition at line 245 of file jacobiandottest.cpp.