#include "pinocchio/multibody/model.hpp"#include "pinocchio/multibody/data.hpp"#include "pinocchio/multibody/joint/joint-spherical.hpp"#include "pinocchio/algorithm/crba.hpp"#include "pinocchio/algorithm/centroidal.hpp"#include "pinocchio/algorithm/centroidal-derivatives.hpp"#include "pinocchio/algorithm/rnea-derivatives.hpp"#include "pinocchio/algorithm/jacobian.hpp"#include "pinocchio/algorithm/center-of-mass.hpp"#include "pinocchio/algorithm/joint-configuration.hpp"#include "pinocchio/parsers/sample-models.hpp"#include "pinocchio/utils/timer.hpp"#include <iostream>#include <boost/test/unit_test.hpp>#include <boost/utility/binary.hpp>
Include dependency graph for centroidal-derivatives.cpp:
Go to the source code of this file.
Functions | |
| template<typename JointModel > | |
| static void | addJointAndBody (pinocchio::Model &model, const pinocchio::JointModelBase< JointModel > &joint, const std::string &parent_name, const std::string &name, const pinocchio::SE3 placement=pinocchio::SE3::Random(), bool setRandomLimits=true) |
| BOOST_AUTO_TEST_CASE (test_centroidal_derivatives) | |
| BOOST_AUTO_TEST_CASE (test_retrieve_centroidal_derivatives) | |
Function Documentation
◆ addJointAndBody()
template<typename JointModel >
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static |
Definition at line 24 of file centroidal-derivatives.cpp.
◆ BOOST_AUTO_TEST_CASE() [1/2]
| BOOST_AUTO_TEST_CASE | ( | test_centroidal_derivatives | ) |
Definition at line 58 of file centroidal-derivatives.cpp.
◆ BOOST_AUTO_TEST_CASE() [2/2]
| BOOST_AUTO_TEST_CASE | ( | test_retrieve_centroidal_derivatives | ) |
Definition at line 177 of file centroidal-derivatives.cpp.