#include <ros/ros.h>
#include <moveit/rdf_loader/rdf_loader.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <kdl/jntarray.hpp>
#include <kdl_parser/kdl_parser.hpp>
#include <kdl/chainiksolverpos_nr_jl.hpp>
#include <kdl/chainiksolvervel_pinv.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <gtest/gtest.h>

Include dependency graph for test_jacobian.cpp:

Functions
double	gen_rand (double min, double max)

int	main (int argc, char **argv)

bool	NOT_NEAR (const double &v1, const double &v2, const double &NEAR)

	TEST (JacobianSolver, solver)

	TEST (JacobianSolver, solver2)

void	testJacobian (std::string group_name, std::string base_link, std::string tip_link)

Function Documentation

◆ gen_rand()

double gen_rand	(	double	min,
		double	max
	)

Definition at line 53 of file test_jacobian.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 141 of file test_jacobian.cpp.

◆ NOT_NEAR()

bool NOT_NEAR	(	const double &	v1,
		const double &	v2,
		const double &	NEAR
	)

Definition at line 60 of file test_jacobian.cpp.

◆ TEST() [1/2]

TEST	(	JacobianSolver	,
		solver
	)

Definition at line 131 of file test_jacobian.cpp.

◆ TEST() [2/2]

TEST	(	JacobianSolver	,
		solver2
	)

Definition at line 136 of file test_jacobian.cpp.

◆ testJacobian()

void testJacobian	(	std::string	group_name,
		std::string	base_link,
		std::string	tip_link
	)

Definition at line 67 of file test_jacobian.cpp.