#include <iostream>
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/multibody/geometry.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/geometry.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/parsers/srdf.hpp"
#include <vector>
#include <boost/test/unit_test.hpp>

Include dependency graph for geom.cpp:

Typedefs
typedef std::map< std::string, pinocchio::SE3 >	GeometryPositionsMap_t

typedef std::map< std::string, pinocchio::SE3 >	JointPositionsMap_t

typedef std::map< std::pair< std::string, std::string >, fcl::DistanceResult >	PairDistanceMap_t

typedef std::map< std::string, pinocchio::SE3 >	PositionsMap_t

Functions
	BOOST_AUTO_TEST_CASE (simple_boxes)

	BOOST_AUTO_TEST_CASE (loading_model)

	BOOST_AUTO_TEST_CASE (manage_collision_pairs)

	BOOST_AUTO_TEST_CASE (test_collisions)

	BOOST_AUTO_TEST_CASE (test_distances)

	BOOST_AUTO_TEST_CASE (test_append_geom_models)

GeometryPositionsMap_t	fillPinocchioGeometryPositions (const pinocchio::GeometryModel &geomModel, const pinocchio::GeometryData &geomData)

JointPositionsMap_t	fillPinocchioJointPositions (const pinocchio::Model &model, const pinocchio::Data &data)

std::vector< std::string >	getBodiesList ()

Typedef Documentation

◆ GeometryPositionsMap_t

typedef std::map<std::string, pinocchio::SE3> GeometryPositionsMap_t

Definition at line 23 of file geom.cpp.

◆ JointPositionsMap_t

typedef std::map<std::string, pinocchio::SE3> JointPositionsMap_t

Definition at line 22 of file geom.cpp.

◆ PairDistanceMap_t

typedef std::map<std::pair < std::string , std::string >, fcl::DistanceResult > PairDistanceMap_t

Definition at line 24 of file geom.cpp.

◆ PositionsMap_t

typedef std::map<std::string, pinocchio::SE3> PositionsMap_t

Definition at line 21 of file geom.cpp.

Function Documentation

◆ BOOST_AUTO_TEST_CASE() [1/6]

BOOST_AUTO_TEST_CASE ( simple_boxes )

Definition at line 33 of file geom.cpp.

◆ BOOST_AUTO_TEST_CASE() [2/6]

BOOST_AUTO_TEST_CASE ( loading_model )

Definition at line 135 of file geom.cpp.

◆ BOOST_AUTO_TEST_CASE() [3/6]

BOOST_AUTO_TEST_CASE ( manage_collision_pairs )

Definition at line 173 of file geom.cpp.

◆ BOOST_AUTO_TEST_CASE() [4/6]

BOOST_AUTO_TEST_CASE ( test_collisions )

Definition at line 318 of file geom.cpp.

◆ BOOST_AUTO_TEST_CASE() [5/6]

BOOST_AUTO_TEST_CASE ( test_distances )

Definition at line 380 of file geom.cpp.

◆ BOOST_AUTO_TEST_CASE() [6/6]

BOOST_AUTO_TEST_CASE ( test_append_geom_models )

Definition at line 417 of file geom.cpp.

◆ fillPinocchioGeometryPositions()

GeometryPositionsMap_t fillPinocchioGeometryPositions	(	const pinocchio::GeometryModel &	geomModel,
		const pinocchio::GeometryData &	geomData
	)

◆ fillPinocchioJointPositions()

JointPositionsMap_t fillPinocchioJointPositions	(	const pinocchio::Model &	model,
		const pinocchio::Data &	data
	)

◆ getBodiesList()

std::vector<std::string> getBodiesList ( )

Typedefs

Functions