unittest
joint-free-flyer.cpp
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//
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// Copyright (c) 2015-2020 CNRS INRIA
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// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
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//
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#include "
pinocchio/math/fwd.hpp
"
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#include "
pinocchio/multibody/joint/joints.hpp
"
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#include "
pinocchio/algorithm/rnea.hpp
"
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#include "
pinocchio/algorithm/aba.hpp
"
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#include "
pinocchio/algorithm/crba.hpp
"
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#include "
pinocchio/algorithm/jacobian.hpp
"
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#include "
pinocchio/algorithm/compute-all-terms.hpp
"
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#include <boost/test/unit_test.hpp>
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#include <iostream>
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using namespace
pinocchio
;
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BOOST_AUTO_TEST_SUITE(JointFreeFlyer)
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BOOST_AUTO_TEST_CASE
(spatial)
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{
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Motion
v
(
Motion::Random
());
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JointMotionSubspaceIdentityTpl<double, 0>
constraint;
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Motion
Sv = constraint *
v
.toVector();
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BOOST_CHECK(Sv ==
v
);
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}
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BOOST_AUTO_TEST_SUITE_END()
compute-all-terms.hpp
rnea.hpp
aba.hpp
fwd.hpp
pinocchio::MotionTpl::Random
static MotionTpl Random()
Definition:
motion-tpl.hpp:140
BOOST_AUTO_TEST_CASE
BOOST_AUTO_TEST_CASE(spatial)
Definition:
joint-free-flyer.cpp:21
pinocchio::v
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
Definition:
joint-configuration.hpp:1084
joints.hpp
pinocchio::MotionTpl
Definition:
context/casadi.hpp:27
jacobian.hpp
crba.hpp
pinocchio::JointMotionSubspaceIdentityTpl
Definition:
joint-free-flyer.hpp:21
pinocchio
Main pinocchio namespace.
Definition:
timings.cpp:27
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:10