finite-differences.cpp File Reference

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
#include <iostream>
#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::JointModelHelicalTpl< Scalar, Options, axis > >
struct	init< pinocchio::JointModelHelicalUnalignedTpl< Scalar, Options > >
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 > >
struct	init< pinocchio::JointModelUniversalTpl< Scalar, Options > >

Functions
	BOOST_AUTO_TEST_CASE (test_jacobian_vs_finit_diff)
	BOOST_AUTO_TEST_CASE (test_S_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_jacobian_vs_finit_diff

)

Definition at line 272 of file finite-differences.cpp.

BOOST_AUTO_TEST_CASE() [2/2]

BOOST_AUTO_TEST_CASE

(

test_S_finit_diff

)

Definition at line 267 of file finite-differences.cpp.

filterValue()

template<typename Matrix >

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

Definition at line 56 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 20 of file finite-differences.cpp.