Macros | Functions
framestest.cpp File Reference
#include "framestest.hpp"
#include <frames_io.hpp>
#include <utilities/utility.h>
Include dependency graph for framestest.cpp:

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Macros

#define TESTEULERZYX(a, b, g)
 
#define TESTEULERZYX_INVARIANT(a, b, g, a2, b2, g2)
 
#define TESTEULERZYZ(a, b, g)
 
#define TESTEULERZYZ_INVARIANT(a, b, g, a2, b2, g2)
 

Functions

 CPPUNIT_TEST_SUITE_REGISTRATION (FramesTest)
 
JntArray CreateRandomJntArray (int size)
 

Macro Definition Documentation

◆ TESTEULERZYX

#define TESTEULERZYX (   a,
  b,
 
)
Value:
{\
double eps=1E-14;\
Rotation R = Rotation::EulerZYX((a),(b),(g));\
double alpha,beta,gamma;\
R.GetEulerZYX(alpha,beta,gamma);\
CPPUNIT_ASSERT_DOUBLES_EQUAL((a),alpha,eps);\
CPPUNIT_ASSERT_DOUBLES_EQUAL((b),beta,eps);\
CPPUNIT_ASSERT_DOUBLES_EQUAL((g),gamma,eps);\
}

Definition at line 194 of file framestest.cpp.

◆ TESTEULERZYX_INVARIANT

#define TESTEULERZYX_INVARIANT (   a,
  b,
  g,
  a2,
  b2,
  g2 
)
Value:
{\
double eps=1E-14;\
Rotation R1=Rotation::EulerZYX(a,b,g);\
Rotation R2=Rotation::EulerZYX(a2,b2,g2);\
CPPUNIT_ASSERT_DOUBLES_EQUAL(0,diff(R2,R1).Norm(),eps);\
}
INLINE S Norm(const Rall1d< T, V, S > &value)
Definition: rall1d.h:418
JntArray diff(const JntArray &q, const JntArray &qdot, const double &dt)

Definition at line 215 of file framestest.cpp.

◆ TESTEULERZYZ

#define TESTEULERZYZ (   a,
  b,
 
)
Value:
{\
double eps=1E-14;\
Rotation R = Rotation::EulerZYZ((a),(b),(g));\
double alpha,beta,gamma;\
R.GetEulerZYZ(alpha,beta,gamma);\
CPPUNIT_ASSERT_DOUBLES_EQUAL((a),alpha,eps);\
CPPUNIT_ASSERT_DOUBLES_EQUAL((b),beta,eps);\
CPPUNIT_ASSERT_DOUBLES_EQUAL((g),gamma,eps);\
}

Definition at line 205 of file framestest.cpp.

◆ TESTEULERZYZ_INVARIANT

#define TESTEULERZYZ_INVARIANT (   a,
  b,
  g,
  a2,
  b2,
  g2 
)
Value:
{\
double eps=1E-14;\
Rotation R1=Rotation::EulerZYZ(a,b,g);\
Rotation R2=Rotation::EulerZYZ(a2,b2,g2);\
CPPUNIT_ASSERT_DOUBLES_EQUAL(0,diff(R2,R1).Norm(),eps);\
}
INLINE S Norm(const Rall1d< T, V, S > &value)
Definition: rall1d.h:418
JntArray diff(const JntArray &q, const JntArray &qdot, const double &dt)

Definition at line 222 of file framestest.cpp.

Function Documentation

◆ CPPUNIT_TEST_SUITE_REGISTRATION()

CPPUNIT_TEST_SUITE_REGISTRATION ( FramesTest  )

◆ CreateRandomJntArray()

JntArray CreateRandomJntArray ( int  size)

Definition at line 638 of file framestest.cpp.



orocos_kdl
Author(s):
autogenerated on Wed Oct 28 2020 03:16:20