liegroups.cpp File Reference

#include "pinocchio/multibody/liegroup/liegroup.hpp"
#include "pinocchio/multibody/liegroup/liegroup-collection.hpp"
#include "pinocchio/multibody/liegroup/liegroup-generic.hpp"
#include "pinocchio/multibody/liegroup/cartesian-product-variant.hpp"
#include "pinocchio/multibody/joint/joint-generic.hpp"
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
#include <boost/algorithm/string.hpp>

Include dependency graph for liegroups.cpp:

Go to the source code of this file.

Classes
struct	LieGroup_Jdifference
struct	LieGroup_Jintegrate< around_identity >
struct	LieGroup_JintegrateCoeffWise
struct	LieGroup_JintegrateJdifference
struct	TestJoint
struct	TestLieGroupVariantVisitor< LieGroupCollection >

Namespaces
	pinocchio
	Main pinocchio namespace.

Macros
#define	EIGEN_MATRIX_IS_APPROX(Va, Vb, precision)
#define	EIGEN_VECTOR_IS_APPROX(Va, Vb, precision)
#define	IFVERBOSE   if(VERBOSE)
#define	VERBOSE   false

Functions
	BOOST_AUTO_TEST_CASE (test_all)
	BOOST_AUTO_TEST_CASE (Jdifference)
	BOOST_AUTO_TEST_CASE (Jintegrate)
	BOOST_AUTO_TEST_CASE (Jintegrate_Jdifference)
	BOOST_AUTO_TEST_CASE (JintegrateCoeffWise)
	BOOST_AUTO_TEST_CASE (test_vector_space)
	BOOST_AUTO_TEST_CASE (test_size)
	BOOST_AUTO_TEST_CASE (test_dim_computation)
	BOOST_AUTO_TEST_CASE (test_liegroup_variant)
	BOOST_AUTO_TEST_CASE (test_liegroup_variant_comparison)
template<typename Derived >
std::ostream &	pinocchio::operator<< (std::ostream &os, const LieGroupBase< Derived > &lg)
template<typename LieGroupCollection >
std::ostream &	pinocchio::operator<< (std::ostream &os, const LieGroupGenericTpl< LieGroupCollection > &lg)
template<typename T >
void	test_lie_group_methods (T &jmodel, typename T::JointDataDerived &)
template<typename Lg1 , typename Lg2 >
void	test_liegroup_variant_equal (Lg1 lg1, Lg2 lg2)
template<typename Lg1 , typename Lg2 >
void	test_liegroup_variant_not_equal (Lg1 lg1, Lg2 lg2)

Macro Definition Documentation

#define EIGEN_MATRIX_IS_APPROX	(		Va,
			Vb,
			precision
	)

Value:

BOOST_CHECK_MESSAGE((Va).isApprox(Vb, precision),                            \
      "check " #Va ".isApprox(" #Vb ") failed "                                \
      "[\n" << (Va) << "\n!=\n" << (Vb) << "\n]")

Definition at line 20 of file liegroups.cpp.

#define EIGEN_VECTOR_IS_APPROX	(		Va,
			Vb,
			precision
	)

Value:

BOOST_CHECK_MESSAGE((Va).isApprox(Vb, precision),                            \
      "check " #Va ".isApprox(" #Vb ") failed "                                \
      "[\n" << (Va).transpose() << "\n!=\n" << (Vb).transpose() << "\n]")

Definition at line 16 of file liegroups.cpp.

#define IFVERBOSE   if(VERBOSE)

Definition at line 28 of file liegroups.cpp.

#define VERBOSE   false

Definition at line 27 of file liegroups.cpp.

Function Documentation

BOOST_AUTO_TEST_CASE

(

test_all

)

Definition at line 431 of file liegroups.cpp.

BOOST_AUTO_TEST_CASE

(

Jdifference

)

Definition at line 450 of file liegroups.cpp.

BOOST_AUTO_TEST_CASE

(

Jintegrate

)

Definition at line 474 of file liegroups.cpp.

BOOST_AUTO_TEST_CASE

(

Jintegrate_Jdifference

)

Definition at line 501 of file liegroups.cpp.

BOOST_AUTO_TEST_CASE

(

JintegrateCoeffWise

)

Definition at line 525 of file liegroups.cpp.

BOOST_AUTO_TEST_CASE

(

test_vector_space

)

Definition at line 565 of file liegroups.cpp.

BOOST_AUTO_TEST_CASE

(

test_size

)

Definition at line 583 of file liegroups.cpp.

BOOST_AUTO_TEST_CASE

(

test_dim_computation

)

Definition at line 661 of file liegroups.cpp.

BOOST_AUTO_TEST_CASE

(

test_liegroup_variant

)

Definition at line 721 of file liegroups.cpp.

BOOST_AUTO_TEST_CASE

(

test_liegroup_variant_comparison

)

Definition at line 741 of file liegroups.cpp.

template<typename T >

void test_lie_group_methods	(	T &	jmodel,
		typename T::JointDataDerived &
	)

Definition at line 44 of file liegroups.cpp.

template<typename Lg1 , typename Lg2 >

void test_liegroup_variant_equal	(	Lg1	lg1,
		Lg2	lg2
	)

Definition at line 727 of file liegroups.cpp.

template<typename Lg1 , typename Lg2 >

void test_liegroup_variant_not_equal	(	Lg1	lg1,
		Lg2	lg2
	)

Definition at line 734 of file liegroups.cpp.