UnitTestUtils.hpp File Reference

#include <math.h>
#include "rdl_dynamics/Model.h"
#include "rdl_dynamics/Dynamics.h"
#include "rdl_dynamics/ReferenceFrame.hpp"
#include "rdl_dynamics/FrameVectorPair.hpp"
#include "rdl_dynamics/Point3.hpp"
#include "rdl_dynamics/rdl_mathutils.h"
#include "rdl_dynamics/RdlExceptions.hpp"

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Namespaces
	unit_test_utils

Functions
static bool	unit_test_utils::checkFrameVectorPairEpsilonClose (const RobotDynamics::Math::FrameVectorPair &v1, const RobotDynamics::Math::FrameVectorPair &v2, const double epsilon)
static bool	unit_test_utils::checkMatrix3dEpsilonClose (const RobotDynamics::Math::Matrix3d &t1, const RobotDynamics::Math::Matrix3d &t2, const double epsilon)
static bool	unit_test_utils::checkMatrix3dEq (const RobotDynamics::Math::Matrix3d &t1, const RobotDynamics::Math::Matrix3d &t2)
static bool	unit_test_utils::checkMatrixNdEpsilonClose (const RobotDynamics::Math::MatrixNd &t1, const RobotDynamics::Math::MatrixNd &t2, const double epsilon)
static bool	unit_test_utils::checkMatrixNdEq (const RobotDynamics::Math::MatrixNd &t1, const RobotDynamics::Math::MatrixNd &t2)
bool	unit_test_utils::checkModelZeroVectorsAndMatrices (RobotDynamics::Model &model)
static bool	unit_test_utils::checkSpatialMatrixEpsilonClose (const RobotDynamics::Math::SpatialMatrix &t1, const RobotDynamics::Math::SpatialMatrix &t2, const double epsilon)
static bool	unit_test_utils::checkSpatialVectorsEpsilonClose (const RobotDynamics::Math::SpatialVector &v1, const RobotDynamics::Math::SpatialVector &v2, const double epsilon)
static bool	unit_test_utils::checkSpatialVectorsEq (const RobotDynamics::Math::SpatialVector &v1, const RobotDynamics::Math::SpatialVector &v2)
static bool	unit_test_utils::checkVector3dEpsilonClose (const RobotDynamics::Math::Vector3d &v1, const RobotDynamics::Math::Vector3d &v2, const double epsilon)
static bool	unit_test_utils::checkVector3dEq (const RobotDynamics::Math::Vector3d &v1, const RobotDynamics::Math::Vector3d &v2)
static bool	unit_test_utils::checkVector4dEpsilonClose (const RobotDynamics::Math::Vector4d &v1, const RobotDynamics::Math::Vector4d &v2, const double epsilon)
static bool	unit_test_utils::checkVector4dEq (const RobotDynamics::Math::Vector4d &v1, const RobotDynamics::Math::Vector4d &v2)
static bool	unit_test_utils::checkVectorNdEpsilonClose (const RobotDynamics::Math::VectorNd &v1, const RobotDynamics::Math::VectorNd &v2, const double epsilon)
static bool	unit_test_utils::checkVectorNdEq (const RobotDynamics::Math::VectorNd &v1, const RobotDynamics::Math::VectorNd &v2)
static RobotDynamics::Math::SpatialTransform	unit_test_utils::createRandomSpatialTransform ()
static ReferenceFramePtr	unit_test_utils::createRandomUnchangingFrame (const std::string &frameName, ReferenceFramePtr parentFrame, const unsigned int movableBodyId)
static ReferenceFramePtr	unit_test_utils::getARandomFrame (std::vector< ReferenceFramePtr > frames)
template<typename T >
static T	unit_test_utils::getRandomAngle ()
template<typename T >
static T	unit_test_utils::getRandomNumber ()
template<typename T >
static T	unit_test_utils::getRandomNumber (T min, T max)
static Point3d	unit_test_utils::getRandomPoint3 ()
static RobotDynamics::Math::SpatialTransform	unit_test_utils::getTransformToRootByClimbingTree (ReferenceFramePtr frame)
void	unit_test_utils::integrateEuler (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &x, const Math::VectorNd &tau, double h, Math::SpatialForceV *f_ext=nullptr)
	Using simple Euler integration, integrate the system dynamics one step. More...
void	unit_test_utils::integrateRk4 (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &x, const Math::VectorNd &tau, double h, Math::SpatialForceV *f_ext=nullptr)
	Using a Runge-Kutta 4th order algorithm, integrate the system dynamics one step. More...
static void	unit_test_utils::updateAllFrames (std::vector< ReferenceFramePtr > frames)

Variables
const double	unit_test_utils::TEST_PREC = 1.0e-14