#include <iostream>#include <pinocchio/algorithm/frames.hpp>#include <pinocchio/algorithm/jacobian.hpp>#include <pinocchio/algorithm/joint-configuration.hpp>#include <pinocchio/algorithm/kinematics.hpp>#include <pinocchio/multibody/data.hpp>#include <pinocchio/multibody/liegroup/liegroup.hpp>#include <pinocchio/multibody/model.hpp>#include <pinocchio/parsers/sample-models.hpp>#include <dynamic-graph/factory.h>#include <dynamic-graph/linear-algebra.h>#include <Eigen/SVD>#include <boost/test/unit_test.hpp>#include <sot/core/debug.hh>#include <sot/core/feature-abstract.hh>#include <sot/core/feature-generic.hh>#include <sot/core/feature-pose.hh>#include <sot/core/gain-adaptive.hh>#include <sot/core/sot.hh>#include <sot/core/task.hh>
Include dependency graph for test_feature_generic.cpp:
Go to the source code of this file.
Classes | |
| class | FeatureTestBase |
| struct | dynamicgraph::sot::internal::LG_t< representation > |
| class | TestFeatureGeneric |
| class | TestFeaturePose< representation > |
Namespaces | |
| dynamicgraph | |
| dynamicgraph::sot | |
| dynamicgraph::sot::internal | |
Macros | |
| #define | BOOST_TEST_MODULE features |
| #define | EIGEN_MATRIX_IS_APPROX(Va, Vb, precision) |
| #define | EIGEN_VECTOR_IS_APPROX(Va, Vb, precision) |
Typedefs | |
| typedef pinocchio::CartesianProductOperation< pinocchio::VectorSpaceOperationTpl< 3, double >, pinocchio::SpecialOrthogonalOperationTpl< 3, double > > | dynamicgraph::sot::R3xSO3_t |
| typedef pinocchio::SE3 | SE3 |
| typedef pinocchio::SpecialEuclideanOperationTpl< 3, double > | dynamicgraph::sot::SE3_t |
Functions | |
| BOOST_AUTO_TEST_CASE (check_value) | |
| BOOST_AUTO_TEST_CASE (r3xso3) | |
| BOOST_AUTO_TEST_CASE (se3) | |
| BOOST_AUTO_TEST_SUITE_END () MatrixHomogeneous randomM() | |
| template<Representation_t representation> | |
| void | feature_pose_absolute_tpl (const std::string &repr) |
| template<typename TestClass > | |
| void | runTest (TestClass &runner, int N=2) |
| Vector7 | toVector (const pinocchio::SE3 &M) |
| Vector | toVector (const std::vector< MultiBound > &in) |
Macro Definition Documentation
◆ BOOST_TEST_MODULE
| #define BOOST_TEST_MODULE features |
Definition at line 23 of file test_feature_generic.cpp.
◆ EIGEN_MATRIX_IS_APPROX
| #define EIGEN_MATRIX_IS_APPROX | ( | Va, | |
| Vb, | |||
| precision | |||
| ) |
Value:
BOOST_CHECK_MESSAGE((Va).isApprox(Vb, precision), "check " #Va \
".isApprox(" #Vb \
") failed " \
"[\n" \
<< (Va) << "\n!=\n" \
<< (Vb) << "\n]")
Definition at line 68 of file test_feature_generic.cpp.
◆ EIGEN_VECTOR_IS_APPROX
| #define EIGEN_VECTOR_IS_APPROX | ( | Va, | |
| Vb, | |||
| precision | |||
| ) |
Value:
BOOST_CHECK_MESSAGE((Va).isApprox(Vb, precision), \
"check " #Va ".isApprox(" #Vb \
") failed " \
"[\n" \
<< (Va).transpose() << "\n!=\n" \
<< (Vb).transpose() << "\n]")
Definition at line 61 of file test_feature_generic.cpp.
Typedef Documentation
◆ SE3
| typedef pinocchio::SE3 SE3 |
Definition at line 294 of file test_feature_generic.cpp.
Function Documentation
◆ BOOST_AUTO_TEST_CASE() [1/3]
| BOOST_AUTO_TEST_CASE | ( | check_value | ) |
Definition at line 275 of file test_feature_generic.cpp.
◆ BOOST_AUTO_TEST_CASE() [2/3]
| BOOST_AUTO_TEST_CASE | ( | r3xso3 | ) |
Definition at line 625 of file test_feature_generic.cpp.
◆ BOOST_AUTO_TEST_CASE() [3/3]
| BOOST_AUTO_TEST_CASE | ( | se3 | ) |
Definition at line 629 of file test_feature_generic.cpp.
◆ BOOST_AUTO_TEST_SUITE_END()
| BOOST_AUTO_TEST_SUITE_END | ( | ) |
Definition at line 284 of file test_feature_generic.cpp.
◆ feature_pose_absolute_tpl()
template<Representation_t representation>
| void feature_pose_absolute_tpl | ( | const std::string & | repr | ) |
Definition at line 613 of file test_feature_generic.cpp.
◆ runTest()
template<typename TestClass >
| void runTest | ( | TestClass & | runner, |
| int | N = 2 |
||
| ) |
Definition at line 602 of file test_feature_generic.cpp.
◆ toVector() [1/2]
| Vector7 toVector | ( | const pinocchio::SE3 & | M | ) |
Definition at line 296 of file test_feature_generic.cpp.
◆ toVector() [2/2]
| Vector toVector | ( | const std::vector< MultiBound > & | in | ) |
Definition at line 303 of file test_feature_generic.cpp.