#include <iostream>
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
#include <tsid/contacts/contact-6d.hpp>
#include <tsid/contacts/contact-point.hpp>
#include <tsid/formulations/inverse-dynamics-formulation-acc-force.hpp>
#include <tsid/tasks/task-com-equality.hpp>
#include <tsid/tasks/task-se3-equality.hpp>
#include <tsid/tasks/task-joint-posture.hpp>
#include <tsid/tasks/task-joint-bounds.hpp>
#include <tsid/trajectories/trajectory-euclidian.hpp>
#include <tsid/solvers/solver-HQP-factory.hxx>
#include <tsid/solvers/utils.hpp>
#include <tsid/utils/stop-watch.hpp>
#include <tsid/utils/statistics.hpp>
#include <tsid/math/utils.hpp>
#include <pinocchio/algorithm/joint-configuration.hpp>
#include <pinocchio/parsers/srdf.hpp>

Include dependency graph for tsid-formulation.cpp:

Classes
class	StandardRomeoInvDynCtrl

Macros
#define	CHECK_LESS_THAN(A, B) BOOST_CHECK_MESSAGE(A < B, #A << ": " << A << ">" << B)

#define	PROFILE_CONTROL_CYCLE "Control cycle"

#define	PROFILE_HQP "HQP"

#define	PROFILE_HQP_FAST "HQP_FAST"

#define	PROFILE_HQP_RT "HQP_RT"

#define	PROFILE_PROBLEM_FORMULATION "Problem formulation"

#define	REQUIRE_CONTACT_FINITE(contact)

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

#define	REQUIRE_TASK_FINITE(task)

Functions
	BOOST_AUTO_TEST_CASE (test_contact_point_invdyn_formulation_acc_force)

	BOOST_AUTO_TEST_CASE (test_invdyn_formulation_acc_force)

	BOOST_AUTO_TEST_CASE (test_invdyn_formulation_acc_force_computation_time)

	BOOST_AUTO_TEST_CASE (test_invdyn_formulation_acc_force_remove_contact)

Variables
const int	max_it = 10

const string	quadruped_model_path = TSID_SOURCE_DIR "/models/quadruped"

const string	romeo_model_path = TSID_SOURCE_DIR "/models/romeo"

Macro Definition Documentation

◆ CHECK_LESS_THAN

#define CHECK_LESS_THAN	(	A,
		B
	)	BOOST_CHECK_MESSAGE(A < B, #A << ": " << A << ">" << B)

Definition at line 50 of file tsid-formulation.cpp.

◆ PROFILE_CONTROL_CYCLE

#define PROFILE_CONTROL_CYCLE "Control cycle"

Definition at line 668 of file tsid-formulation.cpp.

◆ PROFILE_HQP

#define PROFILE_HQP "HQP"

Definition at line 670 of file tsid-formulation.cpp.

◆ PROFILE_HQP_FAST

#define PROFILE_HQP_FAST "HQP_FAST"

Definition at line 671 of file tsid-formulation.cpp.

◆ PROFILE_HQP_RT

#define PROFILE_HQP_RT "HQP_RT"

Definition at line 672 of file tsid-formulation.cpp.

◆ PROFILE_PROBLEM_FORMULATION

#define PROFILE_PROBLEM_FORMULATION "Problem formulation"

Definition at line 669 of file tsid-formulation.cpp.

◆ REQUIRE_CONTACT_FINITE

#define REQUIRE_CONTACT_FINITE ( contact )

Value:

  REQUIRE_FINITE(contact.getMotionConstraint().matrix());        \
  REQUIRE_FINITE(contact.getMotionConstraint().vector());        \
  REQUIRE_FINITE(contact.getForceConstraint().matrix());         \
  REQUIRE_FINITE(contact.getForceConstraint().lowerBound());     \
  REQUIRE_FINITE(contact.getForceConstraint().upperBound());     \
  REQUIRE_FINITE(contact.getForceRegularizationTask().matrix()); \
  REQUIRE_FINITE(contact.getForceRegularizationTask().vector())

Definition at line 57 of file tsid-formulation.cpp.

◆ REQUIRE_FINITE

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

Definition at line 49 of file tsid-formulation.cpp.

◆ REQUIRE_TASK_FINITE

#define REQUIRE_TASK_FINITE ( task )

Value:

REQUIRE_FINITE(task.getConstraint().matrix()); \

REQUIRE_FINITE(task.getConstraint().vector())

Definition at line 53 of file tsid-formulation.cpp.

Function Documentation

◆ BOOST_AUTO_TEST_CASE() [1/4]

BOOST_AUTO_TEST_CASE ( test_contact_point_invdyn_formulation_acc_force )

Definition at line 505 of file tsid-formulation.cpp.

◆ BOOST_AUTO_TEST_CASE() [2/4]

BOOST_AUTO_TEST_CASE ( test_invdyn_formulation_acc_force )

Definition at line 333 of file tsid-formulation.cpp.

◆ BOOST_AUTO_TEST_CASE() [3/4]

BOOST_AUTO_TEST_CASE ( test_invdyn_formulation_acc_force_computation_time )

Definition at line 674 of file tsid-formulation.cpp.

◆ BOOST_AUTO_TEST_CASE() [4/4]

BOOST_AUTO_TEST_CASE ( test_invdyn_formulation_acc_force_remove_contact )

Definition at line 197 of file tsid-formulation.cpp.

Variable Documentation

◆ max_it

const int max_it = 10

Definition at line 70 of file tsid-formulation.cpp.

◆ quadruped_model_path

const string quadruped_model_path = TSID_SOURCE_DIR "/models/quadruped"

Definition at line 67 of file tsid-formulation.cpp.

◆ romeo_model_path

const string romeo_model_path = TSID_SOURCE_DIR "/models/romeo"

Definition at line 66 of file tsid-formulation.cpp.

Classes

Macros

Functions

Variables