centroidal_dynamics_test.cc
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00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
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00029 
00030 #include <gtest/gtest.h>
00031 
00032 #include <towr/variables/euler_converter.h>
00033 
00034 namespace towr {
00035 
00036 TEST(CentroidalDynamicsTest, GetBaseAcceleration)
00037 {
00038 //  CentroidalModel model;
00039 //
00040 //  Vector3d com(0.0, 0.0, 0.0);
00041 //  EndeffectorsPos ee_pos(2);
00042 //  ee_pos.At(E0) = Vector3d(1.0, 0.0, 0.0);
00043 //  ee_pos.At(E1).setZero();
00044 //
00045 //  Endeffectors<Vector3d> ee_load(2);
00046 //  ee_load.At(E0) = Vector3d(0.0, 1.0, 0.0); // 1 N force in z
00047 //  ee_load.At(E1).setZero();
00048 //
00049 //  model.SetCurrent(com, ee_load, ee_pos);
00050 //
00051 //  std::cout << model.GetBaseAcceleration();
00052 }
00053 
00054 TEST(CentroidalDynamicsTest, GetJacobianOfAccWrtBase)
00055 {
00056 //  CentroidalModel model;
00057 //
00058 //
00059 //  Vector3d d1(1.1, 0.0, 0.0);
00060 //  Vector3d d2(1.1, 2.2, 3.3);
00061 //
00062 //
00063 //  JacobianRow s1 = d1.sparseView(1.0, -1.0);
00064 //  JacobianRow s2 = d2.sparseView();
00065 //  JacobianRow s3(3);
00066 //  s3.coeffRef(0) = 0.0;
00067 //  s3.coeffRef(1) = 0.0;
00068 //  s3.coeffRef(2) = 0.0;
00069 //
00070 //  std::cout << s1 << ", nnz: " << s1.nonZeros() << std::endl;
00071 //  std::cout << s2 << ", nnz: " << s2.nonZeros() << std::endl;
00072 //  std::cout << s3 << ", nnz: " << s3.nonZeros() << std::endl;
00073 
00074 }
00075 
00076 TEST(CentroidalDynamicsTest, TestRotations)
00077 {
00078   EulerConverter converter;
00079 //  std::cout << "X: " <<  converter.GetRotation(0.1, X) << std::endl;
00080 //  std::cout << "Y: " <<  converter.GetRotation(0.1, Y) << std::endl;
00081 //  std::cout << "Z: " <<  converter.GetRotation(0.1, Z) << std::endl;
00082 
00083 }
00084 
00085 } /* namespace xpp */


towr_core
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 9 2018 03:12:44