#include <iostream>#include <gtest/gtest.h>#include "rdl_dynamics/Dynamics.h"#include "rdl_dynamics/FramePoint.hpp"#include "rdl_dynamics/Kinematics.h"#include "rdl_dynamics/Model.h"#include "UnitTestUtils.hpp"
Go to the source code of this file.
Classes | |
| struct | FloatingBaseTestFixture |
Functions | |
| int | main (int argc, char **argv) |
| TEST_F (FloatingBaseTestFixture, TestCalcPointTransformation) | |
| TEST_F (FloatingBaseTestFixture, TestCalcDynamicFloatingBaseDoubleImplicit) | |
| TEST_F (FloatingBaseTestFixture, TestCalcPointVelocityFloatingBaseSimple) | |
| TEST_F (FloatingBaseTestFixture, TestCalcPointVelocityCustom) | |
| TEST_F (FloatingBaseTestFixture, TestCalcPointAccelerationNoQDDot) | |
| Compares computation of acceleration values for zero qddot. More... | |
| TEST_F (FloatingBaseTestFixture, TestCalcPointAccelerationOnlyQDDot) | |
| Compares computation of acceleration values for zero q and qdot. More... | |
| TEST_F (FloatingBaseTestFixture, TestCalcPointAccelerationFull) | |
| Compares computation of acceleration values for zero q and qdot. More... | |
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 406 of file RdlFloatingBaseTests.cpp.
| TEST_F | ( | FloatingBaseTestFixture | , |
| TestCalcPointTransformation | |||
| ) |
Definition at line 41 of file RdlFloatingBaseTests.cpp.
| TEST_F | ( | FloatingBaseTestFixture | , |
| TestCalcDynamicFloatingBaseDoubleImplicit | |||
| ) |
Definition at line 63 of file RdlFloatingBaseTests.cpp.
| TEST_F | ( | FloatingBaseTestFixture | , |
| TestCalcPointVelocityFloatingBaseSimple | |||
| ) |
Definition at line 120 of file RdlFloatingBaseTests.cpp.
| TEST_F | ( | FloatingBaseTestFixture | , |
| TestCalcPointVelocityCustom | |||
| ) |
Definition at line 168 of file RdlFloatingBaseTests.cpp.
| TEST_F | ( | FloatingBaseTestFixture | , |
| TestCalcPointAccelerationNoQDDot | |||
| ) |
Compares computation of acceleration values for zero qddot.
Ensures that computation of position, velocity, and acceleration of a point produce the same values as in an equivalent model that was created with the HuMAnS toolbox http://www.inrialpes.fr/bipop/software/humans/ . Here we omit the term of the generalized acceleration by setting qddot to zero.
Definition at line 222 of file RdlFloatingBaseTests.cpp.
| TEST_F | ( | FloatingBaseTestFixture | , |
| TestCalcPointAccelerationOnlyQDDot | |||
| ) |
Compares computation of acceleration values for zero q and qdot.
Ensures that computation of position, velocity, and acceleration of a point produce the same values as in an equivalent model that was created with the HuMAnS toolbox http://www.inrialpes.fr/bipop/software/humans/ .
Here we set q and qdot to zero and only take into account values that are dependent on qddot.
Definition at line 288 of file RdlFloatingBaseTests.cpp.
| TEST_F | ( | FloatingBaseTestFixture | , |
| TestCalcPointAccelerationFull | |||
| ) |
Compares computation of acceleration values for zero q and qdot.
Ensures that computation of position, velocity, and acceleration of a point produce the same values as in an equivalent model that was created with the HuMAnS toolbox http://www.inrialpes.fr/bipop/software/humans/ .
Here we set q and qdot to zero and only take into account values that are dependent on qddot.
Definition at line 345 of file RdlFloatingBaseTests.cpp.