#include <iostream>
#include <iomanip>
#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 <boost/mpl/vector.hpp>

Include dependency graph for liegroups.cpp:

Classes
struct	LieGroup_dIntegrateTransport

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 (dIntegrateTransport)

	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 (small_distance_test)

	BOOST_AUTO_TEST_CASE (test_all)

	BOOST_AUTO_TEST_CASE (test_dim_computation)

	BOOST_AUTO_TEST_CASE (test_liegroup_variant)

	BOOST_AUTO_TEST_CASE (test_liegroup_variant_comparison)

	BOOST_AUTO_TEST_CASE (test_size)

	BOOST_AUTO_TEST_CASE (test_vector_space)

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

◆ EIGEN_MATRIX_IS_APPROX

#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 26 of file liegroups.cpp.

◆ EIGEN_VECTOR_IS_APPROX

#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 20 of file liegroups.cpp.

◆ IFVERBOSE

#define IFVERBOSE if (VERBOSE)

Definition at line 36 of file liegroups.cpp.

◆ VERBOSE

#define VERBOSE false

Definition at line 35 of file liegroups.cpp.

Function Documentation

◆ BOOST_AUTO_TEST_CASE() [1/12]

BOOST_AUTO_TEST_CASE ( dIntegrateTransport )

Definition at line 612 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [2/12]

BOOST_AUTO_TEST_CASE ( Jdifference )

Definition at line 587 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [3/12]

BOOST_AUTO_TEST_CASE ( Jintegrate )

Definition at line 637 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [4/12]

BOOST_AUTO_TEST_CASE ( Jintegrate_Jdifference )

Definition at line 665 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [5/12]

BOOST_AUTO_TEST_CASE ( JintegrateCoeffWise )

Definition at line 690 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [6/12]

BOOST_AUTO_TEST_CASE ( small_distance_test )

Definition at line 846 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [7/12]

BOOST_AUTO_TEST_CASE ( test_all )

Definition at line 572 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [8/12]

BOOST_AUTO_TEST_CASE ( test_dim_computation )

Definition at line 836 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [9/12]

BOOST_AUTO_TEST_CASE ( test_liegroup_variant )

Definition at line 907 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [10/12]

BOOST_AUTO_TEST_CASE ( test_liegroup_variant_comparison )

Definition at line 928 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [11/12]

BOOST_AUTO_TEST_CASE ( test_size )

Definition at line 749 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [12/12]

BOOST_AUTO_TEST_CASE ( test_vector_space )

Definition at line 728 of file liegroups.cpp.

◆ test_lie_group_methods()

template<typename T >

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

Definition at line 53 of file liegroups.cpp.

◆ test_liegroup_variant_equal()

template<typename Lg1 , typename Lg2 >

void test_liegroup_variant_equal	(	Lg1	lg1,
		Lg2	lg2
	)

Definition at line 914 of file liegroups.cpp.

◆ test_liegroup_variant_not_equal()