IKFastTestHyA.cpp File Reference

#include <ct/models/HyA/HyAInverseKinematics.h>
#include <ct/rbd/rbd.h>
#include <ct/rbd/state/JointState.h>
#include <ct/models/HyA/HyA.h>
#include <gtest/gtest.h>

Functions
	TEST (HyAIKTest, FKTest)
	TEST (HyAIKTest, IKFastTest)
	TEST (HyAIKTest, IKFastTest_closeTo)
int	main (int argc, char **argv)

Function Documentation

TEST() [1/3]

TEST	(	HyAIKTest	,
		FKTest
	)

References ComputeFk(), i, and ct::rbd::JointState< NJOINTS, SCALAR >::setRandom().

TEST() [2/3]

TEST	(	HyAIKTest	,
		IKFastTest
	)

References ct::rbd::HyAInverseKinematics< SCALAR >::computeInverseKinematics(), i, ct::rbd::tpl::RigidBodyPose< SCALAR >::setIdentity(), and ct::rbd::JointState< NJOINTS, SCALAR >::setRandom().

TEST() [3/3]

TEST	(	HyAIKTest	,
		IKFastTest_closeTo
	)

References ct::rbd::InverseKinematicsBase< 6, SCALAR >::computeInverseKinematicsCloseTo(), i, ct::rbd::tpl::RigidBodyPose< SCALAR >::setIdentity(), and ct::rbd::JointState< NJOINTS, SCALAR >::setRandom().

main()

int main	(	int	argc,
		char **	argv
	)