kinematics_core_unit.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <tesseract_kinematics/kdl/kdl_fwd_kin_chain.h>
#include <tesseract_kinematics/core/utils.h>
#include "kinematics_test_utils.h"

Include dependency graph for kinematics_core_unit.cpp:

Go to the source code of this file.

Functions
bool	isPseudoinverseValid (const Eigen::MatrixXd &A, const Eigen::MatrixXd &P, double tolerance=1e-4)
int	main (int argc, char **argv)
template<typename FloatType >
void	runRedundantSolutionsTest ()
	TEST (TesseractKinematicsUnit, dampedPInv_EmptyMatrix)
	TEST (TesseractKinematicsUnit, dampedPInv_FullRankSquareMatrix)
	TEST (TesseractKinematicsUnit, dampedPInv_OverdeterminedMatrix)
	TEST (TesseractKinematicsUnit, dampedPInv_RankDeficientMatrix)
	TEST (TesseractKinematicsUnit, dampedPInv_UnderdeterminedMatrix)
	TEST (TesseractKinematicsUnit, RedundantSolutionsUnit)
	TEST (TesseractKinematicsUnit, solvePInv_EmptyMatrix)
	TEST (TesseractKinematicsUnit, solvePInv_OverdeterminedSystem)
	TEST (TesseractKinematicsUnit, solvePInv_SizeMismatch)
	TEST (TesseractKinematicsUnit, solvePInv_UnderdeterminedSystem)
	TEST (TesseractKinematicsUnit, UtilscalcManipulabilityUnit)
	TEST (TesseractKinematicsUnit, UtilsHarmonizeTowardMedianUnit)
	TEST (TesseractKinematicsUnit, UtilsHarmonizeTowardZeroUnit)
	TEST (TesseractKinematicsUnit, UtilsNearSingularityUnit)

Variables
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH const static TESSERACT_COMMON_IGNORE_WARNINGS_POP std::string	FACTORY_NAME = "TestFactory"

Function Documentation

isPseudoinverseValid()

bool isPseudoinverseValid	(	const Eigen::MatrixXd &	A,
		const Eigen::MatrixXd &	P,
		double	tolerance = 1e-4
	)

Definition at line 426 of file kinematics_core_unit.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 492 of file kinematics_core_unit.cpp.

runRedundantSolutionsTest()

template<typename FloatType >

void runRedundantSolutionsTest

(

)

Definition at line 148 of file kinematics_core_unit.cpp.

TEST() [1/14]

TEST	(	TesseractKinematicsUnit	,
		dampedPInv_EmptyMatrix
	)

Definition at line 484 of file kinematics_core_unit.cpp.

TEST() [2/14]

TEST	(	TesseractKinematicsUnit	,
		dampedPInv_FullRankSquareMatrix
	)

Definition at line 432 of file kinematics_core_unit.cpp.

TEST() [3/14]

TEST	(	TesseractKinematicsUnit	,
		dampedPInv_OverdeterminedMatrix
	)

Definition at line 458 of file kinematics_core_unit.cpp.

TEST() [4/14]

TEST	(	TesseractKinematicsUnit	,
		dampedPInv_RankDeficientMatrix
	)

Definition at line 445 of file kinematics_core_unit.cpp.

TEST() [5/14]

TEST	(	TesseractKinematicsUnit	,
		dampedPInv_UnderdeterminedMatrix
	)

Definition at line 471 of file kinematics_core_unit.cpp.

TEST() [6/14]

TEST	(	TesseractKinematicsUnit	,
		RedundantSolutionsUnit
	)

Definition at line 281 of file kinematics_core_unit.cpp.

TEST() [7/14]

TEST	(	TesseractKinematicsUnit	,
		solvePInv_EmptyMatrix
	)

Definition at line 415 of file kinematics_core_unit.cpp.

TEST() [8/14]

TEST	(	TesseractKinematicsUnit	,
		solvePInv_OverdeterminedSystem
	)

Definition at line 365 of file kinematics_core_unit.cpp.

TEST() [9/14]

TEST	(	TesseractKinematicsUnit	,
		solvePInv_SizeMismatch
	)

Definition at line 403 of file kinematics_core_unit.cpp.

TEST() [10/14]

TEST	(	TesseractKinematicsUnit	,
		solvePInv_UnderdeterminedSystem
	)

Definition at line 384 of file kinematics_core_unit.cpp.

TEST() [11/14]

TEST	(	TesseractKinematicsUnit	,
		UtilscalcManipulabilityUnit
	)

Definition at line 313 of file kinematics_core_unit.cpp.

TEST() [12/14]

TEST	(	TesseractKinematicsUnit	,
		UtilsHarmonizeTowardMedianUnit
	)

Definition at line 37 of file kinematics_core_unit.cpp.

TEST() [13/14]

TEST	(	TesseractKinematicsUnit	,
		UtilsHarmonizeTowardZeroUnit
	)

Definition at line 12 of file kinematics_core_unit.cpp.

TEST() [14/14]

TEST	(	TesseractKinematicsUnit	,
		UtilsNearSingularityUnit
	)

Definition at line 287 of file kinematics_core_unit.cpp.

Variable Documentation

FACTORY_NAME

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH const static TESSERACT_COMMON_IGNORE_WARNINGS_POP std::string FACTORY_NAME = "TestFactory"

static

Definition at line 10 of file kinematics_core_unit.cpp.