#include <gtest/gtest.h>#include "UnitTestUtils.hpp"#include "rdl_dynamics/Kinematics.h"#include "Fixtures.h"#include "Human36Fixture.h"#include "rdl_dynamics/Dynamics.h"
Go to the source code of this file.
Classes | |
| struct | SphericalJointFixture |
Functions | |
| void | ConvertQAndQDotFromEmulated (const Model &emulated_model, const VectorNd &q_emulated, const VectorNd &qdot_emulated, const Model &multdof3_model, VectorNd *q_spherical, VectorNd *qdot_spherical) |
| int | main (int argc, char **argv) |
| TEST_F (SphericalJointFixture, TestQuaternionIntegration) | |
| TEST_F (SphericalJointFixture, TestQIndices) | |
| TEST_F (SphericalJointFixture, TestGetQuaternion) | |
| TEST_F (SphericalJointFixture, TestSetQuaternion) | |
| TEST_F (SphericalJointFixture, TestOrientation) | |
| TEST_F (SphericalJointFixture, TestUpdateKinematics) | |
| TEST_F (SphericalJointFixture, TestSpatialVelocities) | |
| TEST_F (SphericalJointFixture, TestForwardDynamicsQAndQDot) | |
| TEST_F (SphericalJointFixture, TestDynamicsConsistencyRNEA_ABA) | |
| TEST_F (SphericalJointFixture, TestCRBA) | |
| TEST_F (SphericalJointFixture, TestForwardDynamicsLagrangianVsABA) | |
| TEST_F (SphericalJointFixture, TestContactsLagrangian) | |
| TEST_F (SphericalJointFixture, TestContacts) | |
| TEST_F (SphericalJointFixture, TestEulerZYXvsEmulatedLagrangian) | |
| TEST_F (SphericalJointFixture, TestEulerZYXvsEmulatedArticulatedBodyAlgorithm) | |
| TEST_F (SphericalJointFixture, TestEulerZYXvsEmulatedContacts) | |
| TEST_F (SphericalJointFixture, TestEulerZYXvsEmulatedCRBA) | |
| TEST_F (SphericalJointFixture, TestJointTypeTranslationZYX) | |
| TEST_F (SphericalJointFixture, TestJointTypeEulerXYZ) | |
| TEST_F (SphericalJointFixture, TestJointTypeEulerYXZ) | |
| TEST_F (Human36, TestUpdateKinematics) | |
| TEST_F (Human36, TestInverseDynamics) | |
| TEST_F (Human36, TestNonlinearEffects) | |
| TEST_F (Human36, TestContactsEmulatedLagrangianKokkevis) | |
| TEST_F (Human36, TestContactsEmulatedLagrangianSparse) | |
| TEST_F (Human36, TestContactsEmulatedLagrangianNullSpaceLinearSolverPartialPivLU) | |
| TEST_F (Human36, TestContactsEmulatedLagrangianNullSpaceLinearSolverHouseholderQR) | |
| TEST_F (Human36, TestContactsEmulatedLagrangianNullSpace) | |
| TEST_F (Human36, TestContactsEmulatedMultdofLagrangian) | |
| TEST_F (Human36, TestContactsEmulatedMultdofSparse) | |
| TEST_F (Human36, TestContactsEmulatedMultdofKokkevisSparse) | |
| TEST_F (Human36, TestContactsEmulatedMultdofKokkevisMultiple) | |
| TEST_F (SphericalJointFixture, TestEulerZYXvsEmulated) | |
| TEST_F (Human36, SolveMInvTimesTau) | |
| TEST_F (Human36, SolveMInvTimesTauReuse) | |
Variables | |
| const double | TEST_PREC = 1.0e-12 |
Function Documentation
| void ConvertQAndQDotFromEmulated | ( | const Model & | emulated_model, |
| const VectorNd & | q_emulated, | ||
| const VectorNd & | qdot_emulated, | ||
| const Model & | multdof3_model, | ||
| VectorNd * | q_spherical, | ||
| VectorNd * | qdot_spherical | ||
| ) |
Definition at line 92 of file RdlMultiDofTests.cpp.
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 1142 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestQuaternionIntegration | |||
| ) |
Definition at line 119 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestQIndices | |||
| ) |
Definition at line 146 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestGetQuaternion | |||
| ) |
Definition at line 160 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestSetQuaternion | |||
| ) |
Definition at line 208 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestOrientation | |||
| ) |
Definition at line 236 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestUpdateKinematics | |||
| ) |
Definition at line 262 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestSpatialVelocities | |||
| ) |
Definition at line 306 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestForwardDynamicsQAndQDot | |||
| ) |
Definition at line 326 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestDynamicsConsistencyRNEA_ABA | |||
| ) |
Definition at line 346 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestCRBA | |||
| ) |
Definition at line 376 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestForwardDynamicsLagrangianVsABA | |||
| ) |
Definition at line 428 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestContactsLagrangian | |||
| ) |
Definition at line 461 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestContacts | |||
| ) |
Definition at line 487 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestEulerZYXvsEmulatedLagrangian | |||
| ) |
Definition at line 513 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestEulerZYXvsEmulatedArticulatedBodyAlgorithm | |||
| ) |
Definition at line 547 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestEulerZYXvsEmulatedContacts | |||
| ) |
Definition at line 576 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestEulerZYXvsEmulatedCRBA | |||
| ) |
Definition at line 627 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestJointTypeTranslationZYX | |||
| ) |
Definition at line 644 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestJointTypeEulerXYZ | |||
| ) |
Definition at line 696 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestJointTypeEulerYXZ | |||
| ) |
Definition at line 748 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| TestUpdateKinematics | |||
| ) |
Definition at line 809 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| TestInverseDynamics | |||
| ) |
Definition at line 826 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| TestNonlinearEffects | |||
| ) |
Definition at line 839 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| TestContactsEmulatedLagrangianKokkevis | |||
| ) |
Definition at line 852 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| TestContactsEmulatedLagrangianSparse | |||
| ) |
Definition at line 873 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| TestContactsEmulatedLagrangianNullSpaceLinearSolverPartialPivLU | |||
| ) |
Definition at line 893 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| TestContactsEmulatedLagrangianNullSpaceLinearSolverHouseholderQR | |||
| ) |
Definition at line 919 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| TestContactsEmulatedLagrangianNullSpace | |||
| ) |
Definition at line 945 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| TestContactsEmulatedMultdofLagrangian | |||
| ) |
Definition at line 965 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| TestContactsEmulatedMultdofSparse | |||
| ) |
Definition at line 982 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| TestContactsEmulatedMultdofKokkevisSparse | |||
| ) |
Definition at line 1010 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| TestContactsEmulatedMultdofKokkevisMultiple | |||
| ) |
Definition at line 1037 of file RdlMultiDofTests.cpp.
| TEST_F | ( | SphericalJointFixture | , |
| TestEulerZYXvsEmulated | |||
| ) |
Definition at line 1057 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| SolveMInvTimesTau | |||
| ) |
Definition at line 1091 of file RdlMultiDofTests.cpp.
| TEST_F | ( | Human36 | , |
| SolveMInvTimesTauReuse | |||
| ) |
Definition at line 1110 of file RdlMultiDofTests.cpp.
Variable Documentation
| const double TEST_PREC = 1.0e-12 |
Definition at line 14 of file RdlMultiDofTests.cpp.