#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/multibody/joint/joint-spherical.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/centroidal.hpp"
#include "pinocchio/algorithm/centroidal-derivatives.hpp"
#include "pinocchio/algorithm/rnea-derivatives.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/center-of-mass.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/parsers/sample-models.hpp"
#include "pinocchio/utils/timer.hpp"
#include <iostream>
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>

Include dependency graph for centroidal-derivatives.cpp:

Functions
template<typename JointModel >
static void	addJointAndBody (pinocchio::Model &model, const pinocchio::JointModelBase< JointModel > &joint, const std::string &parent_name, const std::string &name, const pinocchio::SE3 placement=pinocchio::SE3::Random(), bool setRandomLimits=true)

	BOOST_AUTO_TEST_CASE (test_centroidal_derivatives)

	BOOST_AUTO_TEST_CASE (test_retrieve_centroidal_derivatives)

Function Documentation

template<typename JointModel >

static void addJointAndBody	(	pinocchio::Model &	model,
		const pinocchio::JointModelBase< JointModel > &	joint,
		const std::string &	parent_name,
		const std::string &	name,
		const pinocchio::SE3	placement = `pinocchio::SE3::Random()`,
		bool	setRandomLimits = `true`
	)

static

Definition at line 24 of file centroidal-derivatives.cpp.

BOOST_AUTO_TEST_CASE ( test_centroidal_derivatives )

Definition at line 58 of file centroidal-derivatives.cpp.

BOOST_AUTO_TEST_CASE ( test_retrieve_centroidal_derivatives )

Definition at line 182 of file centroidal-derivatives.cpp.

Functions

Function Documentation