#include <map>
#include <string>
#include <vector>
#include <math.h>
#include <pluginlib/class_loader.h>
#include <hand_kinematics/hand_kinematics_plugin.h>
#include <gtest/gtest.h>
#include <sr_utilities/sr_math_utils.hpp>
Go to the source code of this file.
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| int | main (int argc, char **argv) |
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| double | rand_range (double min_n, double max_n) |
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| void | random_test_finger_fkik (std::string PREFIX, std::string prefix, int n_tests, bool verbose=false) |
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| | TEST (FKIK, first_finger) |
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| | TEST (FKIK, middle_finger) |
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| | TEST (FKIK, ring_finger) |
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| | TEST (FKIK, little_finger) |
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| | TEST (FKIK, thumb) |
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| #define DEG2RAD (M_PI / 180.0) |
| #define RAD2DEG (180.0 / M_PI) |
| int main |
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interface and selftest (fk==ik) of the forward/inverse kinematics solver for the Shadow hand with J1/J2 finger-couplings, for the Shadow hand thumb, and support for little-finger palm-arch (LFJ5). The solvers start at the "palm" frame and work towards idealized "fftip" "mftip" "rftip" "lftip" and "thtip" frames, which are approximations to the core of the fingertips (assuming spherical fingertip shape). Actual contact points on the fingertips are therefore about one-half finger radius outside of the positions specified by the *tip frames.
Definition at line 346 of file test_kinematics_as_service.cpp.
| double rand_range |
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double |
min_n, |
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double |
max_n |
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| void random_test_finger_fkik |
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std::string |
PREFIX, |
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std::string |
prefix, |
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int |
n_tests, |
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bool |
verbose = false |
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| TEST |
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FKIK |
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first_finger |
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| TEST |
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FKIK |
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middle_finger |
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| TEST |
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FKIK |
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ring_finger |
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| TEST |
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FKIK |
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little_finger |
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