HyATest.cpp File Reference

#include <memory>
#include <array>
#include <iostream>
#include <Eigen/Dense>
#include <gtest/gtest.h>
#include <ct/core/core.h>
#include <ct/rbd/rbd.h>
#include "ct/models/HyA/HyA.h"

Macros
#define	Debug

Functions
	TEST (HyaLinearizerTest, NumDiffComparison)
	TEST (CodegenLinearizerTest, NumDiffComparison)
	TEST (IntegratorTest, IntegratorTestHya)
int	main (int argc, char **argv)

Macro Definition Documentation

Debug

#define Debug

Function Documentation

TEST() [1/3]

TEST	(	HyaLinearizerTest	,
		NumDiffComparison
	)

References ct::rbd::RbdLinearizer< SYSTEM >::getDerivativeControl(), ct::core::SystemLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeControl(), ct::rbd::RbdLinearizer< SYSTEM >::getDerivativeState(), ct::core::SystemLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeState(), i, u, and x.

TEST() [2/3]

TEST	(	CodegenLinearizerTest	,
		NumDiffComparison
	)

References ct::rbd::RbdLinearizer< SYSTEM >::getDerivativeControl(), ct::models::HyA::HyALinearizedForward::getDerivativeControl(), ct::rbd::RbdLinearizer< SYSTEM >::getDerivativeState(), ct::models::HyA::HyALinearizedForward::getDerivativeState(), i, u, and x.

TEST() [3/3]

TEST	(	IntegratorTest	,
		IntegratorTestHya
	)

References dt, ct::core::EULER, ct::core::EULERCT, i, ct::core::Integrator< STATE_DIM, SCALAR >::integrate_n_steps(), ct::core::RK4, and ct::core::RK4CT.

main()

int main	(	int	argc,
		char **	argv
	)