#include "pinocchio/algorithm/energy.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/center-of-mass.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include <iostream>
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
#include <boost/test/tools/floating_point_comparison.hpp>

Include dependency graph for unittest/energy.cpp:

Functions
	BOOST_AUTO_TEST_CASE (test_against_rnea)

	BOOST_AUTO_TEST_CASE (test_kinetic_energy)

	BOOST_AUTO_TEST_CASE (test_kinetic_energy_with_armature)

	BOOST_AUTO_TEST_CASE (test_mechanical_energy)

	BOOST_AUTO_TEST_CASE (test_potential_energy)

template<typename ConfigVectorType , typename TangentVectorType >
Eigen::VectorXd	evalMv (const pinocchio::Model &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)

Function Documentation

◆ BOOST_AUTO_TEST_CASE() [1/5]

BOOST_AUTO_TEST_CASE ( test_against_rnea )

Definition at line 126 of file unittest/energy.cpp.

◆ BOOST_AUTO_TEST_CASE() [2/5]

BOOST_AUTO_TEST_CASE ( test_kinetic_energy )

Definition at line 20 of file unittest/energy.cpp.

◆ BOOST_AUTO_TEST_CASE() [3/5]

BOOST_AUTO_TEST_CASE ( test_kinetic_energy_with_armature )

Definition at line 43 of file unittest/energy.cpp.

◆ BOOST_AUTO_TEST_CASE() [4/5]

BOOST_AUTO_TEST_CASE ( test_mechanical_energy )

Definition at line 90 of file unittest/energy.cpp.

◆ BOOST_AUTO_TEST_CASE() [5/5]

BOOST_AUTO_TEST_CASE ( test_potential_energy )

Definition at line 69 of file unittest/energy.cpp.

◆ evalMv()

template<typename ConfigVectorType , typename TangentVectorType >

Eigen::VectorXd evalMv	(	const pinocchio::Model &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Definition at line 114 of file unittest/energy.cpp.