EEKinematicsTest.cpp File Reference

#include <ct/rbd/rbd.h>
#include <memory>
#include <gtest/gtest.h>
#include <ct/rbd/state/RBDState.h>
#include "../../models/testhyq/RobCoGenTestHyQ.h"

Typedefs
typedef RBDState< 12 >	RBDStateHyQ

Functions
	TEST (EEKinematicsTest, testFootVelocityBaseAngularVelocity)
	TEST (EEKinematicsTest, testFootVelocityBaseZRotation)
	TEST (EEKinematicsTest, testFootVelocityBaseLinearVelocity)
	TEST (EEKinematicsTest, testFootPositionVaryingBase)
	TEST (EEKinematicsTest, testFootPositionStraightBase)
	TEST (EEKinematicsTest, forceMappingTest)
	TEST (EEKinematicsTest, forceMagnitudeTest)
	TEST (EEKinematicsTest, torqueMappingTest)
int	main (int argc, char **argv)

Variables
const size_t	nFeet = 4

Typedef Documentation

RBDStateHyQ

typedef RBDState<12> RBDStateHyQ

Function Documentation

TEST() [1/8]

TEST	(	EEKinematicsTest	,
		testFootVelocityBaseAngularVelocity
	)

References ct::rbd::RBDState< NJOINTS, SCALAR >::baseLocalAngularVelocity(), i, nFeet, and ct::rbd::RBDState< NJOINTS, SCALAR >::setZero().

TEST() [2/8]

TEST	(	EEKinematicsTest	,
		testFootVelocityBaseZRotation
	)

References ct::rbd::RBDState< NJOINTS, SCALAR >::baseLinearVelocity(), ct::rbd::RBDState< NJOINTS, SCALAR >::baseLocalAngularVelocity(), ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), i, ct::rbd::RBDState< NJOINTS, SCALAR >::jointVelocities(), nFeet, ct::rbd::tpl::RigidBodyPose< SCALAR >::setFromEulerAnglesXyz(), and ct::rbd::RBDState< NJOINTS, SCALAR >::setRandom().

TEST() [3/8]

TEST	(	EEKinematicsTest	,
		testFootVelocityBaseLinearVelocity
	)

References ct::rbd::RBDState< NJOINTS, SCALAR >::baseLinearVelocity(), ct::rbd::RBDState< NJOINTS, SCALAR >::baseLocalAngularVelocity(), ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), i, ct::rbd::RBDState< NJOINTS, SCALAR >::jointVelocities(), nFeet, ct::rbd::tpl::RigidBodyPose< SCALAR >::setFromEulerAnglesXyz(), ct::rbd::RBDState< NJOINTS, SCALAR >::setRandom(), and t.

TEST() [4/8]

TEST	(	EEKinematicsTest	,
		testFootPositionVaryingBase
	)

References i, ct::rbd::RBDState< NJOINTS, SCALAR >::jointPositions(), nFeet, ct::rbd::RBDState< NJOINTS, SCALAR >::setRandom(), and t.

TEST() [5/8]

TEST	(	EEKinematicsTest	,
		testFootPositionStraightBase
	)

References ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), i, ct::rbd::RBDState< NJOINTS, SCALAR >::jointPositions(), nFeet, ct::rbd::tpl::RigidBodyPose< SCALAR >::position(), ct::rbd::tpl::RigidBodyPose< SCALAR >::setFromEulerAnglesXyz(), ct::rbd::RBDState< NJOINTS, SCALAR >::setRandom(), and t.

TEST() [6/8]

TEST	(	EEKinematicsTest	,
		forceMappingTest
	)

References ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), i, ct::rbd::RBDState< NJOINTS, SCALAR >::jointPositions(), nFeet, ct::rbd::tpl::RigidBodyPose< SCALAR >::setFromEulerAnglesXyz(), ct::rbd::RBDState< NJOINTS, SCALAR >::setRandom(), and t.

TEST() [7/8]

TEST	(	EEKinematicsTest	,
		forceMagnitudeTest
	)

References ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), i, ct::rbd::RBDState< NJOINTS, SCALAR >::jointPositions(), nFeet, ct::rbd::RBDState< NJOINTS, SCALAR >::setRandom(), and t.

TEST() [8/8]

TEST	(	EEKinematicsTest	,
		torqueMappingTest
	)

References ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), i, ct::rbd::RBDState< NJOINTS, SCALAR >::jointPositions(), nFeet, ct::rbd::tpl::RigidBodyPose< SCALAR >::setFromEulerAnglesXyz(), ct::rbd::RBDState< NJOINTS, SCALAR >::setRandom(), and t.

main()

int main	(	int	argc,
		char **	argv
	)

Variable Documentation

nFeet

const size_t nFeet = 4

Referenced by TEST().