#include "pinocchio/multibody/liegroup/liegroup.hpp"
#include "pinocchio/multibody/liegroup/liegroup-collection.hpp"
#include "pinocchio/multibody/liegroup/liegroup-generic.hpp"
#include "pinocchio/multibody/liegroup/cartesian-product-variant.hpp"
#include "pinocchio/multibody/joint/joint-generic.hpp"
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/mpl/vector.hpp>

Include dependency graph for liegroups.cpp:

Classes
struct	LieGroup_Jdifference

struct	LieGroup_Jintegrate< around_identity >

struct	LieGroup_JintegrateCoeffWise

struct	LieGroup_JintegrateJdifference

struct	TestJoint

struct	TestLieGroupVariantVisitor< LieGroupCollection >

Namespaces
	pinocchio
	Main pinocchio namespace.

Macros
#define	EIGEN_MATRIX_IS_APPROX(Va, Vb, precision)

#define	EIGEN_VECTOR_IS_APPROX(Va, Vb, precision)

#define	IFVERBOSE if(VERBOSE)

#define	VERBOSE false

Functions
	BOOST_AUTO_TEST_CASE (test_all)

	BOOST_AUTO_TEST_CASE (Jdifference)

	BOOST_AUTO_TEST_CASE (Jintegrate)

	BOOST_AUTO_TEST_CASE (Jintegrate_Jdifference)

	BOOST_AUTO_TEST_CASE (JintegrateCoeffWise)

	BOOST_AUTO_TEST_CASE (test_vector_space)

	BOOST_AUTO_TEST_CASE (test_size)

	BOOST_AUTO_TEST_CASE (test_dim_computation)

	BOOST_AUTO_TEST_CASE (small_distance_test)

	BOOST_AUTO_TEST_CASE (test_liegroup_variant)

	BOOST_AUTO_TEST_CASE (test_liegroup_variant_comparison)

template<typename Derived >
std::ostream &	pinocchio::operator<< (std::ostream &os, const LieGroupBase< Derived > &lg)

template<typename LieGroupCollection >
std::ostream &	pinocchio::operator<< (std::ostream &os, const LieGroupGenericTpl< LieGroupCollection > &lg)

template<typename T >
void	test_lie_group_methods (T &jmodel, typename T::JointDataDerived &)

template<typename Lg1 , typename Lg2 >
void	test_liegroup_variant_equal (Lg1 lg1, Lg2 lg2)

template<typename Lg1 , typename Lg2 >
void	test_liegroup_variant_not_equal (Lg1 lg1, Lg2 lg2)

Macro Definition Documentation

◆ EIGEN_MATRIX_IS_APPROX

#define EIGEN_MATRIX_IS_APPROX	(	Va,
		Vb,
		precision
	)

Value:

BOOST_CHECK_MESSAGE((Va).isApprox(Vb, precision),                            \
      "check " #Va ".isApprox(" #Vb ") failed "                                \
      "[\n" << (Va) << "\n!=\n" << (Vb) << "\n]")

Definition at line 21 of file liegroups.cpp.

◆ EIGEN_VECTOR_IS_APPROX

#define EIGEN_VECTOR_IS_APPROX	(	Va,
		Vb,
		precision
	)

Value:

BOOST_CHECK_MESSAGE((Va).isApprox(Vb, precision),                            \
      "check " #Va ".isApprox(" #Vb ") failed "                                \
      "[\n" << (Va).transpose() << "\n!=\n" << (Vb).transpose() << "\n]")

Definition at line 17 of file liegroups.cpp.

◆ IFVERBOSE

#define IFVERBOSE if(VERBOSE)

Definition at line 29 of file liegroups.cpp.

◆ VERBOSE

#define VERBOSE false

Definition at line 28 of file liegroups.cpp.

Function Documentation

◆ BOOST_AUTO_TEST_CASE() [1/11]

BOOST_AUTO_TEST_CASE ( test_all )

Definition at line 471 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [2/11]

BOOST_AUTO_TEST_CASE ( Jdifference )

Definition at line 490 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [3/11]

BOOST_AUTO_TEST_CASE ( Jintegrate )

Definition at line 514 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [4/11]

BOOST_AUTO_TEST_CASE ( Jintegrate_Jdifference )

Definition at line 541 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [5/11]

BOOST_AUTO_TEST_CASE ( JintegrateCoeffWise )

Definition at line 565 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [6/11]

BOOST_AUTO_TEST_CASE ( test_vector_space )

Definition at line 605 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [7/11]

BOOST_AUTO_TEST_CASE ( test_size )

Definition at line 623 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [8/11]

BOOST_AUTO_TEST_CASE ( test_dim_computation )

Definition at line 701 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [9/11]

BOOST_AUTO_TEST_CASE ( small_distance_test )

Definition at line 711 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [10/11]

BOOST_AUTO_TEST_CASE ( test_liegroup_variant )

Definition at line 773 of file liegroups.cpp.

◆ BOOST_AUTO_TEST_CASE() [11/11]

BOOST_AUTO_TEST_CASE ( test_liegroup_variant_comparison )

Definition at line 793 of file liegroups.cpp.

◆ test_lie_group_methods()

template<typename T >

void test_lie_group_methods	(	T &	jmodel,
		typename T::JointDataDerived &
	)

Definition at line 45 of file liegroups.cpp.

◆ test_liegroup_variant_equal()

template<typename Lg1 , typename Lg2 >

void test_liegroup_variant_equal	(	Lg1	lg1,
		Lg2	lg2
	)

Definition at line 779 of file liegroups.cpp.

◆ test_liegroup_variant_not_equal()