tasks.cpp File Reference

#include <iostream>
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
#include <tsid/math/utils.hpp>
#include <tsid/robots/robot-wrapper.hpp>
#include <tsid/tasks/task-se3-equality.hpp>
#include <tsid/tasks/task-com-equality.hpp>
#include <tsid/tasks/task-joint-posture.hpp>
#include <tsid/tasks/task-joint-bounds.hpp>
#include <tsid/tasks/task-joint-posVelAcc-bounds.hpp>
#include <tsid/trajectories/trajectory-se3.hpp>
#include <tsid/trajectories/trajectory-euclidian.hpp>
#include <pinocchio/parsers/srdf.hpp>
#include <pinocchio/algorithm/joint-configuration.hpp>
#include <pinocchio/algorithm/center-of-mass.hpp>
#include <Eigen/SVD>

Include dependency graph for tasks.cpp:

Go to the source code of this file.

Macros
#define	REQUIRE_FINITE(A)   BOOST_REQUIRE_MESSAGE(isFinite(A), #A << ": " << A)

Functions
	BOOST_AUTO_TEST_CASE (test_task_com_equality)
	BOOST_AUTO_TEST_CASE (test_task_joint_bounds)
	BOOST_AUTO_TEST_CASE (test_task_joint_posture)
	BOOST_AUTO_TEST_CASE (test_task_joint_posVelAcc_bounds)
	BOOST_AUTO_TEST_CASE (test_task_se3_equality)

Variables
const int	max_it = 100
const string	romeo_model_path = TSID_SOURCE_DIR "/models/romeo"

Macro Definition Documentation

REQUIRE_FINITE

#define REQUIRE_FINITE

(

A

)

BOOST_REQUIRE_MESSAGE(isFinite(A), #A << ": " << A)

Definition at line 48 of file tasks.cpp.

Function Documentation

BOOST_AUTO_TEST_CASE() [1/5]

BOOST_AUTO_TEST_CASE

(

test_task_com_equality

)

Definition at line 126 of file tasks.cpp.

BOOST_AUTO_TEST_CASE() [2/5]

BOOST_AUTO_TEST_CASE

(

test_task_joint_bounds

)

Definition at line 271 of file tasks.cpp.

BOOST_AUTO_TEST_CASE() [3/5]

BOOST_AUTO_TEST_CASE

(

test_task_joint_posture

)

Definition at line 203 of file tasks.cpp.

BOOST_AUTO_TEST_CASE() [4/5]

BOOST_AUTO_TEST_CASE

(

test_task_joint_posVelAcc_bounds

)

Definition at line 313 of file tasks.cpp.

BOOST_AUTO_TEST_CASE() [5/5]

BOOST_AUTO_TEST_CASE

(

test_task_se3_equality

)

Definition at line 60 of file tasks.cpp.

Variable Documentation

max_it

const int max_it = 100

Definition at line 53 of file tasks.cpp.

romeo_model_path

const string romeo_model_path = TSID_SOURCE_DIR "/models/romeo"

Definition at line 50 of file tasks.cpp.