#include "pinocchio/algorithm/aba.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/frames.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/centroidal.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/contact-info.hpp"
#include "pinocchio/algorithm/compute-all-terms.hpp"
#include "pinocchio/algorithm/constrained-dynamics.hpp"
#include "pinocchio/algorithm/contact-dynamics.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include "pinocchio/utils/timer.hpp"
#include "pinocchio/spatial/classic-acceleration.hpp"
#include <iostream>
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>

Include dependency graph for unittest/constrained-dynamics.cpp:

Macros
#define	KD 10

#define	KP 10

Functions
	BOOST_AUTO_TEST_CASE (test_constraint_dynamics_LOCAL_6D_loop_closure_j1j2)

	BOOST_AUTO_TEST_CASE (test_contact_ABA_3D)

	BOOST_AUTO_TEST_CASE (test_contact_ABA_6D)

	BOOST_AUTO_TEST_CASE (test_contact_ABA_with_armature)

	BOOST_AUTO_TEST_CASE (test_correction_CONTACT_3D)

	BOOST_AUTO_TEST_CASE (test_correction_CONTACT_6D)

	BOOST_AUTO_TEST_CASE (test_diagonal_inertia)

	BOOST_AUTO_TEST_CASE (test_sparse_forward_dynamics_double_init)

	BOOST_AUTO_TEST_CASE (test_sparse_forward_dynamics_empty)

	BOOST_AUTO_TEST_CASE (test_sparse_forward_dynamics_in_contact_6D_3D)

	BOOST_AUTO_TEST_CASE (test_sparse_forward_dynamics_in_contact_6D_LOCAL)

	BOOST_AUTO_TEST_CASE (test_sparse_forward_dynamics_in_contact_6D_LOCAL_WORLD_ALIGNED)

	BOOST_AUTO_TEST_CASE (test_sparse_forward_dynamics_in_contact_specifying_joint2id)

	BOOST_AUTO_TEST_CASE (test_sparse_forward_dynamics_in_contact_specifying_joint2id_case3D)

pinocchio::Motion	computeAcceleration (const pinocchio::Model &model, pinocchio::Data &data, const pinocchio::JointIndex &joint_id, pinocchio::ReferenceFrame reference_frame, const pinocchio::ContactType type, const pinocchio::SE3 &placement=pinocchio::SE3::Identity())
	Computes motions in the world frame. More...

	createData (const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &contact_models)

Macro Definition Documentation

◆ KD

#define KD 10

Definition at line 26 of file unittest/constrained-dynamics.cpp.

◆ KP

#define KP 10

Definition at line 25 of file unittest/constrained-dynamics.cpp.

Function Documentation

◆ BOOST_AUTO_TEST_CASE() [1/14]

BOOST_AUTO_TEST_CASE ( test_constraint_dynamics_LOCAL_6D_loop_closure_j1j2 )

Definition at line 512 of file unittest/constrained-dynamics.cpp.

◆ BOOST_AUTO_TEST_CASE() [2/14]

BOOST_AUTO_TEST_CASE ( test_contact_ABA_3D )

Definition at line 1820 of file unittest/constrained-dynamics.cpp.

◆ BOOST_AUTO_TEST_CASE() [3/14]

BOOST_AUTO_TEST_CASE ( test_contact_ABA_6D )

Definition at line 1588 of file unittest/constrained-dynamics.cpp.

◆ BOOST_AUTO_TEST_CASE() [4/14]

BOOST_AUTO_TEST_CASE ( test_contact_ABA_with_armature )

Definition at line 1525 of file unittest/constrained-dynamics.cpp.

◆ BOOST_AUTO_TEST_CASE() [5/14]

BOOST_AUTO_TEST_CASE ( test_correction_CONTACT_3D )

Definition at line 1114 of file unittest/constrained-dynamics.cpp.

◆ BOOST_AUTO_TEST_CASE() [6/14]

BOOST_AUTO_TEST_CASE ( test_correction_CONTACT_6D )

Definition at line 1002 of file unittest/constrained-dynamics.cpp.

◆ BOOST_AUTO_TEST_CASE() [7/14]

BOOST_AUTO_TEST_CASE ( test_diagonal_inertia )

Definition at line 1558 of file unittest/constrained-dynamics.cpp.

◆ BOOST_AUTO_TEST_CASE() [8/14]

BOOST_AUTO_TEST_CASE ( test_sparse_forward_dynamics_double_init )

Definition at line 197 of file unittest/constrained-dynamics.cpp.

◆ BOOST_AUTO_TEST_CASE() [9/14]

BOOST_AUTO_TEST_CASE ( test_sparse_forward_dynamics_empty )

Definition at line 116 of file unittest/constrained-dynamics.cpp.

◆ BOOST_AUTO_TEST_CASE() [10/14]

BOOST_AUTO_TEST_CASE ( test_sparse_forward_dynamics_in_contact_6D_3D )

Definition at line 387 of file unittest/constrained-dynamics.cpp.

◆ BOOST_AUTO_TEST_CASE() [11/14]

BOOST_AUTO_TEST_CASE ( test_sparse_forward_dynamics_in_contact_6D_LOCAL )

Definition at line 261 of file unittest/constrained-dynamics.cpp.

◆ BOOST_AUTO_TEST_CASE() [12/14]

BOOST_AUTO_TEST_CASE ( test_sparse_forward_dynamics_in_contact_6D_LOCAL_WORLD_ALIGNED )

Definition at line 573 of file unittest/constrained-dynamics.cpp.

◆ BOOST_AUTO_TEST_CASE() [13/14]

BOOST_AUTO_TEST_CASE ( test_sparse_forward_dynamics_in_contact_specifying_joint2id )

Definition at line 688 of file unittest/constrained-dynamics.cpp.

◆ BOOST_AUTO_TEST_CASE() [14/14]

BOOST_AUTO_TEST_CASE ( test_sparse_forward_dynamics_in_contact_specifying_joint2id_case3D )

Definition at line 1229 of file unittest/constrained-dynamics.cpp.

◆ computeAcceleration()

pinocchio::Motion computeAcceleration	(	const pinocchio::Model &	model,
		pinocchio::Data &	data,
		const pinocchio::JointIndex &	joint_id,
		pinocchio::ReferenceFrame	reference_frame,
		const pinocchio::ContactType	type,
		const pinocchio::SE3 &	placement = `pinocchio::SE3::Identity()`
	)

Computes motions in the world frame.

Definition at line 67 of file unittest/constrained-dynamics.cpp.

◆ createData()

createData ( const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) & contact_models )

Definition at line 992 of file unittest/constrained-dynamics.cpp.

Macros

Functions