centroidal_dynamics_test.cc
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29 
30 #include <gtest/gtest.h>
31 
33 
34 namespace towr {
35 
36 TEST(CentroidalDynamicsTest, GetBaseAcceleration)
37 {
38 // CentroidalModel model;
39 //
40 // Vector3d com(0.0, 0.0, 0.0);
41 // EndeffectorsPos ee_pos(2);
42 // ee_pos.At(E0) = Vector3d(1.0, 0.0, 0.0);
43 // ee_pos.At(E1).setZero();
44 //
45 // Endeffectors<Vector3d> ee_load(2);
46 // ee_load.At(E0) = Vector3d(0.0, 1.0, 0.0); // 1 N force in z
47 // ee_load.At(E1).setZero();
48 //
49 // model.SetCurrent(com, ee_load, ee_pos);
50 //
51 // std::cout << model.GetBaseAcceleration();
52 }
53 
54 TEST(CentroidalDynamicsTest, GetJacobianOfAccWrtBase)
55 {
56 // CentroidalModel model;
57 //
58 //
59 // Vector3d d1(1.1, 0.0, 0.0);
60 // Vector3d d2(1.1, 2.2, 3.3);
61 //
62 //
63 // JacobianRow s1 = d1.sparseView(1.0, -1.0);
64 // JacobianRow s2 = d2.sparseView();
65 // JacobianRow s3(3);
66 // s3.coeffRef(0) = 0.0;
67 // s3.coeffRef(1) = 0.0;
68 // s3.coeffRef(2) = 0.0;
69 //
70 // std::cout << s1 << ", nnz: " << s1.nonZeros() << std::endl;
71 // std::cout << s2 << ", nnz: " << s2.nonZeros() << std::endl;
72 // std::cout << s3 << ", nnz: " << s3.nonZeros() << std::endl;
73 
74 }
75 
76 TEST(CentroidalDynamicsTest, TestRotations)
77 {
78  EulerConverter converter;
79 // std::cout << "X: " << converter.GetRotation(0.1, X) << std::endl;
80 // std::cout << "Y: " << converter.GetRotation(0.1, Y) << std::endl;
81 // std::cout << "Z: " << converter.GetRotation(0.1, Z) << std::endl;
82 
83 }
84 
85 } /* namespace xpp */
Converts Euler angles and derivatives to angular quantities.
TEST(CentroidalDynamicsTest, GetBaseAcceleration)


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 7 2018 02:15:57