Classes | Functions
finite-differences.cpp File Reference
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/parsers/sample-models.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
Include dependency graph for finite-differences.cpp:

Go to the source code of this file.

Classes

struct  FiniteDiffJoint
 
struct  init< JointModel_ >
 
struct  init< JointModel_ >
 
struct  init< pinocchio::JointModelCompositeTpl< Scalar, Options, JointCollection > >
 
struct  init< pinocchio::JointModelMimic< JointModel_ > >
 
struct  init< pinocchio::JointModelPrismaticUnalignedTpl< Scalar, Options > >
 
struct  init< pinocchio::JointModelRevoluteUnalignedTpl< Scalar, Options > >
 
struct  init< pinocchio::JointModelRevoluteUnboundedUnalignedTpl< Scalar, Options > >
 
struct  init< pinocchio::JointModelTpl< Scalar, Options, JointCollection > >
 

Functions

 BOOST_AUTO_TEST_CASE (test_S_finit_diff)
 
 BOOST_AUTO_TEST_CASE (test_jacobian_vs_finit_diff)
 
template<typename Matrix >
void filterValue (MatrixBase< Matrix > &mat, typename Matrix::Scalar value)
 
template<bool local>
Data::Matrix6x finiteDiffJacobian (const Model &model, Data &data, const Eigen::VectorXd &q, const Model::JointIndex joint_id)
 

Function Documentation

◆ BOOST_AUTO_TEST_CASE() [1/2]

BOOST_AUTO_TEST_CASE ( test_S_finit_diff  )

Definition at line 215 of file finite-differences.cpp.

◆ BOOST_AUTO_TEST_CASE() [2/2]

BOOST_AUTO_TEST_CASE ( test_jacobian_vs_finit_diff  )

Definition at line 220 of file finite-differences.cpp.

◆ filterValue()

template<typename Matrix >
void filterValue ( MatrixBase< Matrix > &  mat,
typename Matrix::Scalar  value 
)

Definition at line 52 of file finite-differences.cpp.

◆ finiteDiffJacobian()

template<bool local>
Data::Matrix6x finiteDiffJacobian ( const Model model,
Data data,
const Eigen::VectorXd &  q,
const Model::JointIndex  joint_id 
)

Definition at line 19 of file finite-differences.cpp.



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autogenerated on Fri Jun 23 2023 02:38:33