FixBaseFDSystemTest.cpp File Reference

#include <ct/rbd/rbd.h>
#include <memory>
#include <array>
#include <iostream>
#include <gtest/gtest.h>
#include "../models/testIrb4600/RobCoGenTestIrb4600.h"

Functions
	TEST (FixBaseFDSystemTest, ForwardDynamicsTest)
	TEST (FixBaseFDSystemTest, ActuatorDynamicsTest)
int	main (int argc, char **argv)

Function Documentation

TEST() [1/2]

TEST	(	FixBaseFDSystemTest	,
		ForwardDynamicsTest
	)

References ct::core::Integrator< STATE_DIM, SCALAR >::integrate_n_steps(), and ct::core::RK4.

TEST() [2/2]

TEST	(	FixBaseFDSystemTest	,
		ActuatorDynamicsTest
	)

References actuator_state_dim, ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::actuatorStateFromVector(), ct::rbd::JointState< NJOINTS, SCALAR >::getPositions(), ct::rbd::JointState< NJOINTS, SCALAR >::getVelocities(), i, ct::core::Integrator< STATE_DIM, SCALAR >::integrate_n_steps(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::jointStateFromVector(), njoints, ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::NSTATE, ct::core::RK4, state_dim, w_n, and zeta.

main()

int main	(	int	argc,
		char **	argv
	)