RdlModelTests.cpp File Reference

#include <gtest/gtest.h>
#include <iostream>
#include "Fixtures.h"
#include "rdl_dynamics/FramePoint.hpp"
#include "rdl_dynamics/Kinematics.h"
#include "rdl_dynamics/Dynamics.h"
#include "rdl_dynamics/Model.h"
#include "rdl_dynamics/rdl_mathutils.h"
#include "UnitTestUtils.hpp"

Include dependency graph for RdlModelTests.cpp:

Go to the source code of this file.

Classes
struct	RdlModelFixture

Functions
int	main (int argc, char **argv)
	TEST_F (RdlModelFixture, testCommonParentId)
	TEST_F (RdlModelFixture, TestInit)
	TEST_F (RdlModelFixture, TestaddBodyDimensions)
	TEST_F (RdlModelFixture, TestFloatingBodyDimensions)
	TEST_F (RdlModelFixture, TestaddBodySpatialValues)
	Tests whether the joint and body information stored in the Model are computed correctly. More...
	TEST_F (RdlModelFixture, testIsBodyId)
	TEST_F (RdlModelFixture, TestaddBodyTestBodyName)
	TEST_F (RdlModelFixture, TestjcalcSimple)
	TEST_F (RdlModelFixture, TestTransformBaseToLocal)
	TEST_F (RdlModelFixture, Model1DoFJoint)
	TEST_F (RdlModelFixture, Model2DoFJoint)
	TEST_F (RdlModelFixture, Model3DoFJoint)
	TEST_F (RdlModelFixture, Model4DoFJoint)
	TEST_F (RdlModelFixture, Model5DoFJoint)
	TEST_F (RdlModelFixture, Model6DoFJoint)
	TEST_F (RdlModelFixture, ModelFixedJointQueryBodyId)
	TEST_F (RdlModelFixture, ModelAppendToFixedBody)
	TEST_F (RdlModelFixture, ModelAppendFixedToFixedBody)
	TEST_F (RdlModelFixture, ModelFixedJointRotationOrderTranslationRotation)
	TEST_F (RdlModelFixture, ModelFixedJointRotationOrderRotationTranslation)
	TEST_F (RdlModelFixture, ModelGetBodyName)
	TEST_F (RotZRotZYXFixed, ModelGetParentBodyId)
	TEST_F (RotZRotZYXFixed, ModelGetParentIdFixed)
	TEST_F (RotZRotZYXFixed, ModelGetJointFrame)
	TEST_F (RotZRotZYXFixed, ModelGetJointFrameFixed)
	TEST_F (RotZRotZYXFixed, ModelSetJointFrame)
	TEST_F (RdlModelFixture, BodyOrientationFixedJoint)
	TEST_F (RdlModelFixture, testAddingTwoBodiesWithSameNameThrows)
	TEST_F (RdlModelFixture, testAddingTwoFixedBodiesWithSameNameThrows)
	TEST_F (RdlModelFixture, transformsOnConstruction)

Variables
const double	TEST_PREC = 1.0e-14

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 911 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		testCommonParentId
	)

Definition at line 42 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		TestInit
	)

Definition at line 89 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		TestaddBodyDimensions
	)

Definition at line 121 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		TestFloatingBodyDimensions
	)

Definition at line 160 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		TestaddBodySpatialValues
	)

Tests whether the joint and body information stored in the Model are computed correctly.

Definition at line 198 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		testIsBodyId
	)

Definition at line 209 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		TestaddBodyTestBodyName
	)

Definition at line 227 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		TestjcalcSimple
	)

Definition at line 240 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		TestTransformBaseToLocal
	)

Definition at line 274 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		Model1DoFJoint
	)

Definition at line 316 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		Model2DoFJoint
	)

Definition at line 349 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		Model3DoFJoint
	)

Definition at line 385 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		Model4DoFJoint
	)

Definition at line 436 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		Model5DoFJoint
	)

Definition at line 490 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		Model6DoFJoint
	)

Definition at line 547 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		ModelFixedJointQueryBodyId
	)

Definition at line 597 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		ModelAppendToFixedBody
	)

Definition at line 620 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		ModelAppendFixedToFixedBody
	)

Definition at line 640 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		ModelFixedJointRotationOrderTranslationRotation
	)

Definition at line 681 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		ModelFixedJointRotationOrderRotationTranslation
	)

Definition at line 715 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		ModelGetBodyName
	)

Definition at line 743 of file RdlModelTests.cpp.

TEST_F	(	RotZRotZYXFixed	,
		ModelGetParentBodyId
	)

Definition at line 763 of file RdlModelTests.cpp.

TEST_F	(	RotZRotZYXFixed	,
		ModelGetParentIdFixed
	)

Definition at line 770 of file RdlModelTests.cpp.

TEST_F	(	RotZRotZYXFixed	,
		ModelGetJointFrame
	)

Definition at line 775 of file RdlModelTests.cpp.

TEST_F	(	RotZRotZYXFixed	,
		ModelGetJointFrameFixed
	)

Definition at line 786 of file RdlModelTests.cpp.

TEST_F	(	RotZRotZYXFixed	,
		ModelSetJointFrame
	)

Definition at line 793 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		BodyOrientationFixedJoint
	)

Definition at line 822 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		testAddingTwoBodiesWithSameNameThrows
	)

Definition at line 849 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		testAddingTwoFixedBodiesWithSameNameThrows
	)

Definition at line 869 of file RdlModelTests.cpp.

TEST_F	(	RdlModelFixture	,
		transformsOnConstruction
	)

Definition at line 889 of file RdlModelTests.cpp.

Variable Documentation

const double TEST_PREC = 1.0e-14

Definition at line 20 of file RdlModelTests.cpp.