#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/model.hpp"
#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/crba.cpp:

Macros
#define	EIGEN_RUNTIME_NO_MALLOC

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_crba)

	BOOST_AUTO_TEST_CASE (test_crba_malloc)

	BOOST_AUTO_TEST_CASE (test_crba_mimic)

	BOOST_AUTO_TEST_CASE (test_minimal_crba)

	BOOST_AUTO_TEST_CASE (test_roto_inertia_effects)

Macro Definition Documentation

◆ EIGEN_RUNTIME_NO_MALLOC

#define EIGEN_RUNTIME_NO_MALLOC

Definition at line 14 of file unittest/crba.cpp.

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 37 of file unittest/crba.cpp.

◆ BOOST_AUTO_TEST_CASE() [1/5]

BOOST_AUTO_TEST_CASE ( test_crba )

Definition at line 67 of file unittest/crba.cpp.

◆ BOOST_AUTO_TEST_CASE() [2/5]

BOOST_AUTO_TEST_CASE ( test_crba_malloc )

Definition at line 237 of file unittest/crba.cpp.

◆ BOOST_AUTO_TEST_CASE() [3/5]

BOOST_AUTO_TEST_CASE ( test_crba_mimic )

Definition at line 131 of file unittest/crba.cpp.

◆ BOOST_AUTO_TEST_CASE() [4/5]

BOOST_AUTO_TEST_CASE ( test_minimal_crba )

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

◆ BOOST_AUTO_TEST_CASE() [5/5]

BOOST_AUTO_TEST_CASE ( test_roto_inertia_effects )

Definition at line 210 of file unittest/crba.cpp.

Macros

Functions