#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/centroidal.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/center-of-mass.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include "pinocchio/utils/timer.hpp"
#include <iostream>
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
#include "utils/model-generator.hpp"

Include dependency graph for unittest/centroidal.cpp:

Functions
template<typename JointModel >
static void	addJointAndBody (pinocchio::Model &model, const pinocchio::JointModelBase< JointModel > &joint, const std::string &parent_name, const std::string &name, const pinocchio::SE3 placement=pinocchio::SE3::Random(), bool setRandomLimits=true)

	BOOST_AUTO_TEST_CASE (test_ccrba)

	BOOST_AUTO_TEST_CASE (test_ccrba_mimic)

	BOOST_AUTO_TEST_CASE (test_centroidal_mapping)

	BOOST_AUTO_TEST_CASE (test_centroidal_mapping_time_derivative)

	BOOST_AUTO_TEST_CASE (test_computeCentroidalMomentum_computeCentroidalMomentumTimeVariation)

	BOOST_AUTO_TEST_CASE (test_dccrb)

Function Documentation

◆ addJointAndBody()

template<typename JointModel >

static void addJointAndBody	(	pinocchio::Model &	model,
		const pinocchio::JointModelBase< JointModel > &	joint,
		const std::string &	parent_name,
		const std::string &	name,
		const pinocchio::SE3	placement = `pinocchio::SE3::Random()`,
		bool	setRandomLimits = `true`
	)

static

Definition at line 24 of file unittest/centroidal.cpp.

◆ BOOST_AUTO_TEST_CASE() [1/6]

BOOST_AUTO_TEST_CASE ( test_ccrba )

Definition at line 54 of file unittest/centroidal.cpp.

◆ BOOST_AUTO_TEST_CASE() [2/6]

BOOST_AUTO_TEST_CASE ( test_ccrba_mimic )

Definition at line 95 of file unittest/centroidal.cpp.

◆ BOOST_AUTO_TEST_CASE() [3/6]

BOOST_AUTO_TEST_CASE ( test_centroidal_mapping )

Definition at line 150 of file unittest/centroidal.cpp.

◆ BOOST_AUTO_TEST_CASE() [4/6]

BOOST_AUTO_TEST_CASE ( test_centroidal_mapping_time_derivative )

Definition at line 338 of file unittest/centroidal.cpp.

◆ BOOST_AUTO_TEST_CASE() [5/6]

BOOST_AUTO_TEST_CASE ( test_computeCentroidalMomentum_computeCentroidalMomentumTimeVariation )

Definition at line 363 of file unittest/centroidal.cpp.

◆ BOOST_AUTO_TEST_CASE() [6/6]

BOOST_AUTO_TEST_CASE ( test_dccrb )

Definition at line 172 of file unittest/centroidal.cpp.

Functions