#include "pinocchio/algorithm/aba.hpp"#include "pinocchio/algorithm/jacobian.hpp"#include "pinocchio/algorithm/contact-info.hpp"#include "pinocchio/algorithm/compute-all-terms.hpp"#include "pinocchio/algorithm/constrained-dynamics.hpp"#include "pinocchio/algorithm/joint-configuration.hpp"#include "pinocchio/multibody/sample-models.hpp"#include "pinocchio/spatial/classic-acceleration.hpp"#include "pinocchio/algorithm/pv.hpp"#include <boost/test/tools/old/interface.hpp>#include <boost/test/unit_test.hpp>#include <boost/utility/binary.hpp>
Include dependency graph for pv-solver.cpp:
Go to the source code of this file.
Functions | |
| BOOST_AUTO_TEST_CASE (test_FD_humanoid_redundant_baumgarte) | |
| BOOST_AUTO_TEST_CASE (test_forward_dynamics_3D_humanoid) | |
| BOOST_AUTO_TEST_CASE (test_forward_dynamics_in_contact_6D_LOCAL_humanoid) | |
| BOOST_AUTO_TEST_CASE (test_forward_dynamics_repeating_3D_humanoid) | |
| BOOST_AUTO_TEST_CASE (test_sparse_forward_dynamics_empty) | |
| pinocchio::Motion | computeAcceleration (const pinocchio::Model &model, pinocchio::Data &data, const pinocchio::JointIndex &joint_id, pinocchio::ReferenceFrame reference_frame, const pinocchio::ContactType type, const pinocchio::SE3 &placement=pinocchio::SE3::Identity()) |
| Computes motions in the world frame. More... | |
Function Documentation
◆ BOOST_AUTO_TEST_CASE() [1/5]
| BOOST_AUTO_TEST_CASE | ( | test_FD_humanoid_redundant_baumgarte | ) |
Definition at line 363 of file pv-solver.cpp.
◆ BOOST_AUTO_TEST_CASE() [2/5]
| BOOST_AUTO_TEST_CASE | ( | test_forward_dynamics_3D_humanoid | ) |
Definition at line 199 of file pv-solver.cpp.
◆ BOOST_AUTO_TEST_CASE() [3/5]
| BOOST_AUTO_TEST_CASE | ( | test_forward_dynamics_in_contact_6D_LOCAL_humanoid | ) |
Definition at line 113 of file pv-solver.cpp.
◆ BOOST_AUTO_TEST_CASE() [4/5]
| BOOST_AUTO_TEST_CASE | ( | test_forward_dynamics_repeating_3D_humanoid | ) |
Definition at line 263 of file pv-solver.cpp.
◆ BOOST_AUTO_TEST_CASE() [5/5]
| BOOST_AUTO_TEST_CASE | ( | test_sparse_forward_dynamics_empty | ) |
Definition at line 74 of file pv-solver.cpp.
◆ computeAcceleration()
| pinocchio::Motion computeAcceleration | ( | const pinocchio::Model & | model, |
| pinocchio::Data & | data, | ||
| const pinocchio::JointIndex & | joint_id, | ||
| pinocchio::ReferenceFrame | reference_frame, | ||
| const pinocchio::ContactType | type, | ||
| const pinocchio::SE3 & | placement = pinocchio::SE3::Identity() |
||
| ) |
Computes motions in the world frame.
Definition at line 25 of file pv-solver.cpp.