#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/model.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/frames.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/spatial/act-on-set.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include "pinocchio/utils/timer.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include <iostream>
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
#include "utils/model-generator.hpp"

Include dependency graph for unittest/frames.cpp:

Functions
	BOOST_AUTO_TEST_CASE (cast)

	BOOST_AUTO_TEST_CASE (frame_basic)

	BOOST_AUTO_TEST_CASE (test_acceleration)

	BOOST_AUTO_TEST_CASE (test_classic_acceleration)

	BOOST_AUTO_TEST_CASE (test_compute_frame_jacobian)

	BOOST_AUTO_TEST_CASE (test_compute_frame_jacobian_mimic)

	BOOST_AUTO_TEST_CASE (test_frame_getters)

	BOOST_AUTO_TEST_CASE (test_frame_jacobian_time_variation)

	BOOST_AUTO_TEST_CASE (test_get_frame_jacobian)

	BOOST_AUTO_TEST_CASE (test_get_frame_jacobian_mimic)

	BOOST_AUTO_TEST_CASE (test_kinematics)

	BOOST_AUTO_TEST_CASE (test_supported_inertia_and_force)

	BOOST_AUTO_TEST_CASE (test_update_placements)

	BOOST_AUTO_TEST_CASE (test_update_single_placement)

	BOOST_AUTO_TEST_CASE (test_velocity)

template<typename Derived >
bool	isFinite (const Eigen::MatrixBase< Derived > &x)

void	test_compute_frame_jacobian_impl (const pinocchio::Model &input_model, pinocchio::JointIndex joint_idx)

void	test_get_frame_jacobian_impl (const pinocchio::Model &input_model, pinocchio::JointIndex joint_idx)

Function Documentation

◆ BOOST_AUTO_TEST_CASE() [1/15]

BOOST_AUTO_TEST_CASE ( cast )

Definition at line 57 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [2/15]

BOOST_AUTO_TEST_CASE ( frame_basic )

Definition at line 32 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [3/15]

BOOST_AUTO_TEST_CASE ( test_acceleration )

Definition at line 185 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [4/15]

BOOST_AUTO_TEST_CASE ( test_classic_acceleration )

Definition at line 224 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [5/15]

BOOST_AUTO_TEST_CASE ( test_compute_frame_jacobian )

Definition at line 487 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [6/15]

BOOST_AUTO_TEST_CASE ( test_compute_frame_jacobian_mimic )

Definition at line 501 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [7/15]

BOOST_AUTO_TEST_CASE ( test_frame_getters )

Definition at line 292 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [8/15]

BOOST_AUTO_TEST_CASE ( test_frame_jacobian_time_variation )

Definition at line 517 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [9/15]

BOOST_AUTO_TEST_CASE ( test_get_frame_jacobian )

Definition at line 411 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [10/15]

BOOST_AUTO_TEST_CASE ( test_get_frame_jacobian_mimic )

Definition at line 425 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [11/15]

BOOST_AUTO_TEST_CASE ( test_kinematics )

Definition at line 71 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [12/15]

BOOST_AUTO_TEST_CASE ( test_supported_inertia_and_force )

Definition at line 659 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [13/15]

BOOST_AUTO_TEST_CASE ( test_update_placements )

Definition at line 93 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [14/15]

BOOST_AUTO_TEST_CASE ( test_update_single_placement )

Definition at line 120 of file unittest/frames.cpp.

◆ BOOST_AUTO_TEST_CASE() [15/15]

BOOST_AUTO_TEST_CASE ( test_velocity )

Definition at line 147 of file unittest/frames.cpp.

◆ isFinite()

template<typename Derived >

bool isFinite ( const Eigen::MatrixBase< Derived > & x )

inline

Definition at line 25 of file unittest/frames.cpp.

◆ test_compute_frame_jacobian_impl()

void test_compute_frame_jacobian_impl	(	const pinocchio::Model &	input_model,
		pinocchio::JointIndex	joint_idx
	)

Definition at line 443 of file unittest/frames.cpp.

◆ test_get_frame_jacobian_impl()

void test_get_frame_jacobian_impl	(	const pinocchio::Model &	input_model,
		pinocchio::JointIndex	joint_idx
	)

Definition at line 364 of file unittest/frames.cpp.

Functions