Classes | Namespaces | Macros | Typedefs | Functions
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]")
bool isApprox(const Shape &s1, const Shape &s2, const FCL_REAL tol)

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]")
bool isApprox(const Shape &s1, const Shape &s2, const FCL_REAL tol)

Definition at line 61 of file test_feature_generic.cpp.

Typedef Documentation

◆ 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.



sot-core
Author(s): Olivier Stasse, ostasse@laas.fr
autogenerated on Wed Jun 21 2023 02:51:27