test_feature_generic.cpp File Reference

#include <iostream>
#include <pinocchio/algorithm/frames.hpp>
#include <pinocchio/algorithm/jacobian.hpp>
#include <pinocchio/algorithm/joint-configuration.hpp>
#include <pinocchio/algorithm/kinematics.hpp>
#include <pinocchio/multibody/data.hpp>
#include <pinocchio/multibody/liegroup/liegroup.hpp>
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/parsers/sample-models.hpp>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/linear-algebra.h>
#include <Eigen/SVD>
#include <boost/test/unit_test.hpp>
#include <sot/core/debug.hh>
#include <sot/core/feature-abstract.hh>
#include <sot/core/feature-generic.hh>
#include <sot/core/feature-pose.hh>
#include <sot/core/gain-adaptive.hh>
#include <sot/core/sot.hh>
#include <sot/core/task.hh>

Include dependency graph for test_feature_generic.cpp:

Go to the source code of this file.

Classes
class	FeatureTestBase
struct	dynamicgraph::sot::internal::LG_t< representation >
class	TestFeatureGeneric
class	TestFeaturePose< representation >

Namespaces
	dynamicgraph
	dynamicgraph::sot
	dynamicgraph::sot::internal

Macros
#define	BOOST_TEST_MODULE   features
#define	EIGEN_MATRIX_IS_APPROX(Va, Vb, precision)
#define	EIGEN_VECTOR_IS_APPROX(Va, Vb, precision)

Typedefs
typedef pinocchio::CartesianProductOperation< pinocchio::VectorSpaceOperationTpl< 3, double >, pinocchio::SpecialOrthogonalOperationTpl< 3, double > >	dynamicgraph::sot::R3xSO3_t
typedef pinocchio::SE3	SE3
typedef pinocchio::SpecialEuclideanOperationTpl< 3, double >	dynamicgraph::sot::SE3_t

Functions
	BOOST_AUTO_TEST_CASE (check_value)
	BOOST_AUTO_TEST_CASE (r3xso3)
	BOOST_AUTO_TEST_CASE (se3)
	BOOST_AUTO_TEST_SUITE_END () MatrixHomogeneous randomM()
template<Representation_t representation>
void	feature_pose_absolute_tpl (const std::string &repr)
template<typename TestClass >
void	runTest (TestClass &runner, int N=2)
Vector7	toVector (const pinocchio::SE3 &M)
Vector	toVector (const std::vector< MultiBound > &in)

Macro Definition Documentation

BOOST_TEST_MODULE

#define BOOST_TEST_MODULE   features

Definition at line 23 of file test_feature_generic.cpp.

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 68 of file test_feature_generic.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 61 of file test_feature_generic.cpp.

Typedef Documentation

SE3

typedef pinocchio::SE3 SE3

Definition at line 294 of file test_feature_generic.cpp.

Function Documentation

BOOST_AUTO_TEST_CASE() [1/3]

BOOST_AUTO_TEST_CASE

(

check_value

)

Definition at line 275 of file test_feature_generic.cpp.

BOOST_AUTO_TEST_CASE() [2/3]

BOOST_AUTO_TEST_CASE

(

r3xso3

)

Definition at line 625 of file test_feature_generic.cpp.

BOOST_AUTO_TEST_CASE() [3/3]

BOOST_AUTO_TEST_CASE

(

se3

)

Definition at line 629 of file test_feature_generic.cpp.

BOOST_AUTO_TEST_SUITE_END()

BOOST_AUTO_TEST_SUITE_END

(

)

Definition at line 284 of file test_feature_generic.cpp.

feature_pose_absolute_tpl()

template<Representation_t representation>

void feature_pose_absolute_tpl

(

const std::string &

repr

)

Definition at line 613 of file test_feature_generic.cpp.

runTest()

template<typename TestClass >

void runTest	(	TestClass &	runner,
		int	N = 2
	)

Definition at line 602 of file test_feature_generic.cpp.

toVector() [1/2]

Vector7 toVector

(

const pinocchio::SE3 &

M

)

Definition at line 296 of file test_feature_generic.cpp.

toVector() [2/2]

Vector toVector

(

const std::vector< MultiBound > &

in

)

Definition at line 303 of file test_feature_generic.cpp.