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11 #include <boost/test/unit_test.hpp>
12 #include <boost/utility/binary.hpp>
19 typedef bf::vector<const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex>
ArgsType;
21 template<
typename Jo
intModel>
32 BOOST_CHECK(jindex == jmodel.
id());
33 std::cout <<
"joint name: " << jmodel.
shortname() << std::endl;
40 typedef bf::vector<const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex>
ArgsType;
42 template<
typename Jo
intModel>
52 BOOST_CHECK(jindex == jmodel.
id());
53 std::cout <<
"joint name: " << jmodel.
shortname() << std::endl;
60 template<
typename Jo
intModel>
64 std::cout <<
"joint name: " << jmodel.
shortname() << std::endl;
71 template<
typename Jo
intModel>
78 std::cout <<
"joint name: " << jmodel.
shortname() << std::endl;
85 typedef bf::vector<const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex>
ArgsType;
87 template<
typename Jo
intModel1,
typename Jo
intModel2>
102 BOOST_CHECK(jindex == jmodel1.
id());
103 BOOST_CHECK(jindex == jmodel2.
id());
104 std::cout <<
"joint1 name: " << jmodel1.
shortname() << std::endl;
105 std::cout <<
"joint2 name: " << jmodel2.
shortname() << std::endl;
112 typedef bf::vector<const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex>
ArgsType;
114 template<
typename Jo
intModel1,
typename Jo
intModel2>
125 BOOST_CHECK(jindex == jmodel1.
id());
126 BOOST_CHECK(jindex == jmodel2.
id());
127 std::cout <<
"joint1 name: " << jmodel1.
shortname() << std::endl;
128 std::cout <<
"joint2 name: " << jmodel2.
shortname() << std::endl;
134 template<
typename Jo
intModel1,
typename Jo
intModel2>
139 BOOST_CHECK(!jmodel1.
shortname().empty());
140 BOOST_CHECK(!jmodel2.
shortname().empty());
141 std::cout <<
"joint1 name: " << jmodel1.
shortname() << std::endl;
142 std::cout <<
"joint2 name: " << jmodel2.
shortname() << std::endl;
148 template<
typename Jo
intModel1,
typename Jo
intModel2>
157 BOOST_CHECK(!jmodel1.
shortname().empty());
158 BOOST_CHECK(!jmodel2.
shortname().empty());
159 std::cout <<
"joint1 name: " << jmodel1.
shortname() << std::endl;
160 std::cout <<
"joint2 name: " << jmodel2.
shortname() << std::endl;
161 std::cout <<
"jdata1 name: " << jdata1.
classname() << std::endl;
162 std::cout <<
"jdata2 name: " << jdata2.
classname() << std::endl;
166 BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
168 template<
typename Jo
intModel_>
171 template<
typename Jo
intModel_>
181 template<
typename Scalar,
int Options>
182 struct init<
pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options>>
189 JointModel jmodel(Vector3::Random().normalized());
195 template<
typename Scalar,
int Options>
196 struct init<
pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options>>
203 JointModel jmodel(Vector3::Random().normalized());
209 template<
typename Scalar,
int Options>
210 struct init<
pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options>>
217 JointModel jmodel(Vector3::Random().normalized());
223 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollection>
224 struct init<
pinocchio::JointModelTpl<Scalar, Options, JointCollection>>
237 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollection>
238 struct init<
pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection>>
256 template<
typename Jo
intModel_>
278 template<
typename Jo
intModel>
354 BOOST_AUTO_TEST_SUITE_END()
static void algo(const pinocchio::JointModelBase< JointModel1 > &jmodel1, const pinocchio::JointModelBase< JointModel2 > &jmodel2)
bf::vector< const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex > ArgsType
pinocchio::JointModelPrismaticUnalignedTpl< Scalar, Options > JointModel
static void algo(const pinocchio::JointModelBase< JointModel1 > &jmodel1, const pinocchio::JointModelBase< JointModel2 > &jmodel2, const pinocchio::Model &model, pinocchio::Data &data, pinocchio::JointIndex jindex)
BOOST_AUTO_TEST_CASE(test_run_over_all_joints_unary_visitor)
pinocchio::JointModelCompositeTpl< Scalar, Options, JointCollection > JointModel
pinocchio::JointModelMimic< JointModel_ > JointModel
static JointModel_ run(const pinocchio::Model &)
AppendJointToModel(pinocchio::Model &model)
static void run(const JointModelBase< JointModelDerived1 > &jmodel1, const JointModelBase< JointModelDerived2 > &jmodel2, typename JointModelBase< JointModelDerived1 >::JointDataDerived &jdata1, typename JointModelBase< JointModelDerived2 >::JointDataDerived &jdata2, ArgsTmp args)
JointModelRevoluteTpl< Scalar, Options, 2 > JointModelRZ
JointModelVector joints
Vector of joint models.
Base structure for Binary visitation of two JointModels. This structure provides runners to call the ...
static void algo(const pinocchio::JointModelBase< JointModel > &jmodel, pinocchio::JointDataBase< typename JointModel::JointDataDerived > &jdata)
static std::string classname()
static void algo(const pinocchio::JointModelBase< JointModel > &jmodel)
static JointModel run(const pinocchio::Model &)
JointModelDerived & addJoint(const JointModelBase< JointModel > &jmodel, const SE3 &placement=SE3::Identity())
Add a joint to the vector of joints.
Base structure for Unary visitation of a JointModel. This structure provides runners to call the righ...
JointIndex addJoint(const JointIndex parent, const JointModel &joint_model, const SE3 &joint_placement, const std::string &joint_name)
Add a joint to the kinematic tree with infinite bounds.
static void algo(const pinocchio::JointModelBase< JointModel1 > &jmodel1, const pinocchio::JointModelBase< JointModel2 > &jmodel2, pinocchio::JointDataBase< typename JointModel1::JointDataDerived > &jdata1, pinocchio::JointDataBase< typename JointModel2::JointDataDerived > &jdata2, const pinocchio::Model &model, pinocchio::Data &data, pinocchio::JointIndex jindex)
pinocchio::JointIndex JointIndex
JointModelTpl< Scalar, Options > JointModel
static void run(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, ArgsTmp args)
static JointModel run(const pinocchio::Model &)
static JointModel run(const pinocchio::Model &)
Eigen::Matrix< Scalar, 3, 1, Options > Vector3
std::string shortname() const
static JointModel run(const pinocchio::Model &)
bf::vector< const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex > ArgsType
static void algo(const pinocchio::JointModelBase< JointModel1 > &jmodel1, const pinocchio::JointModelBase< JointModel2 > &jmodel2, pinocchio::JointDataBase< typename JointModel1::JointDataDerived > &jdata1, pinocchio::JointDataBase< typename JointModel2::JointDataDerived > &jdata2)
pinocchio::JointModelRevoluteUnboundedUnalignedTpl< Scalar, Options > JointModel
Eigen::Matrix< Scalar, 3, 1, _Options > Vector3
pinocchio::JointModelTpl< Scalar, Options, JointCollection > JointModel
static void algo(const pinocchio::JointModelBase< JointModel > &jmodel, pinocchio::JointDataBase< typename JointModel::JointDataDerived > &jdata, const pinocchio::Model &model, pinocchio::Data &data, pinocchio::JointIndex jindex)
static JointModel run(const pinocchio::Model &model)
Eigen::Matrix< Scalar, 3, 1, Options > Vector3
pinocchio::JointModelRevoluteUnalignedTpl< Scalar, Options > JointModel
void operator()(const pinocchio::JointModelBase< JointModel > &) const
JointModelRevoluteTpl< Scalar, Options, 1 > JointModelRY
Eigen::Matrix< Scalar, 3, 1, _Options > Vector3
bf::vector< const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex > ArgsType
static void algo(const pinocchio::JointModelBase< JointModel > &jmodel, const pinocchio::Model &model, pinocchio::Data &data, pinocchio::JointIndex jindex)
bf::vector< const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex > ArgsType
boost::variant< JointModelRX, JointModelRY, JointModelRZ, JointModelMimicRX, JointModelMimicRY, JointModelMimicRZ, JointModelFreeFlyer, JointModelPlanar, JointModelRevoluteUnaligned, JointModelSpherical, JointModelSphericalZYX, JointModelPX, JointModelPY, JointModelPZ, JointModelPrismaticUnaligned, JointModelTranslation, JointModelRUBX, JointModelRUBY, JointModelRUBZ, JointModelRevoluteUnboundedUnaligned, JointModelHx, JointModelHy, JointModelHz, JointModelHelicalUnaligned, JointModelUniversal, boost::recursive_wrapper< JointModelComposite > > JointModelVariant
JointCollectionTpl & model
JointModelRevoluteTpl< Scalar, Options, 0 > JointModelRX
Main pinocchio namespace.
#define PINOCCHIO_UNUSED_VARIABLE(var)
Helper to declare that a parameter is unused.
static JointModel run(const pinocchio::Model &)
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:13