#include "pinocchio/extra/reachable-workspace.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include "pinocchio/multibody/geometry.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include <iostream>
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>

Include dependency graph for unittest/reachable-workspace.cpp:

Classes
struct	robotCreationFixture
	Create a fixture structure for boost test case. It will create a 3DOF robot with prismatic joints and initialize all variables needed for tests of the reachable workspace. More...

Functions
	BOOST_AUTO_TEST_CASE (test_combination_generation)
	test generation combination function and compare to the output of the python function `itertools.combinations` More...

	BOOST_AUTO_TEST_CASE (test_compute_product)
	test of the cartesian product function and compare it to the python function `itertools.product` More...

	BOOST_AUTO_TEST_CASE (test_compute_vel_config)
	test of the function computeJointVel, which mix 2 vectors according to a set of indexes More...

	BOOST_AUTO_TEST_CASE (test_reachable_workspace)
	test of the full pipeline for reachable workspace computation More...

	BOOST_AUTO_TEST_CASE (test_spherical)
	test reachable algorithm in cas nq!= nv More...

	BOOST_FIXTURE_TEST_CASE (test_compute_vertex, robotCreationFixture)
	test of the vertex computation for a 2DOf planar robot. Verify that vertex are inside the rectangle of the joint limits. More...

static pinocchio::Model	createSpherical (double length)
	Create a spherical joint with a stick of length l attached to it. More...