#include "jacobiandottest.hpp"
Include dependency graph for jacobiandottest.cpp:
Go to the source code of this file.
Namespaces | |
| namespace | KDL |
Functions | |
| void | changeRepresentation (Jacobian &J, const Frame &F_bs_ee, const int &representation) |
| double | compare_d2_Jdot_Symbolic_vs_Solver (bool verbose) |
| double | compare_Jdot_Diff_vs_Solver (const Chain &chain, const double &dt, const int &representation, bool verbose) |
| CPPUNIT_TEST_SUITE_REGISTRATION (JacobianDotTest) | |
| Chain | KDL::d2 () |
| Chain | KDL::d6 () |
| JntArray | diff (const JntArray &q, const JntArray &qdot, const double &dt) |
| Jacobian | J_d2_symbolic (const JntArray &q, const JntArray &qdot) |
| Jacobian | Jdot_d2_symbolic (const JntArray &q, const JntArray &qdot) |
| void | Jdot_diff (const Jacobian &J_q, const Jacobian &J_qdt, const double &dt, Jacobian &Jdot) |
| Chain | KDL::KukaLWR_DHnew () |
| void | random (JntArray &q) |
| bool | runTest (const Chain &chain, const int &representation) |
Variables | |
| static const double | KDL::L0 = 1.0 |
| static const double | KDL::L1 = 0.5 |
| static const double | KDL::L2 = 0.4 |
| static const double | KDL::L3 = 0 |
| static const double | KDL::L4 = 0 |
| static const double | KDL::L5 = 0 |
Function Documentation
| void changeRepresentation | ( | Jacobian & | J, |
| const Frame & | F_bs_ee, | ||
| const int & | representation | ||
| ) |
Definition at line 93 of file jacobiandottest.cpp.
| double compare_d2_Jdot_Symbolic_vs_Solver | ( | bool | verbose | ) |
Definition at line 213 of file jacobiandottest.cpp.
| double compare_Jdot_Diff_vs_Solver | ( | const Chain & | chain, |
| const double & | dt, | ||
| const int & | representation, | ||
| bool | verbose | ||
| ) |
Definition at line 160 of file jacobiandottest.cpp.
Definition at line 146 of file jacobiandottest.cpp.
| Jacobian J_d2_symbolic | ( | const JntArray & | q, |
| const JntArray & | qdot | ||
| ) |
Definition at line 133 of file jacobiandottest.cpp.
| Jacobian Jdot_d2_symbolic | ( | const JntArray & | q, |
| const JntArray & | qdot | ||
| ) |
Definition at line 121 of file jacobiandottest.cpp.
Definition at line 109 of file jacobiandottest.cpp.
Definition at line 154 of file jacobiandottest.cpp.
Definition at line 245 of file jacobiandottest.cpp.