FixBaseIKTest.cpp File Reference

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

Typedefs
using	Kinematics_t = ct::rbd::TestIrb4600::tpl::Kinematics< double >
using	IKProblem = ct::rbd::IKNLP< Kinematics_t >
using	IKNLPSolver = ct::rbd::IKNLPSolverIpopt< IKProblem, Kinematics_t >

Functions
	TEST (FixBaseInverseKinematicsTest, DISABLED_NLPIKTest)
int	main (int argc, char **argv)

Variables
const size_t	njoints = ct::rbd::TestIrb4600::Kinematics::NJOINTS

Typedef Documentation

Kinematics_t

using Kinematics_t = ct::rbd::TestIrb4600::tpl::Kinematics<double>

IKProblem

using IKProblem = ct::rbd::IKNLP<Kinematics_t>

IKNLPSolver

using IKNLPSolver = ct::rbd::IKNLPSolverIpopt<IKProblem, Kinematics_t>

Function Documentation

TEST()

TEST	(	FixBaseInverseKinematicsTest	,
		DISABLED_NLPIKTest
	)

References ct::rbd::IKNLPSolverIpopt< IKNLP, VALIDATION_KIN >::computeInverseKinematics(), ct::optcon::IpoptSettings::derivativeTest_, ct::optcon::IpoptSettings::hessian_approximation_, ct::optcon::IPOPT, ct::optcon::NlpSolverSettings::ipoptSettings_, ct::rbd::TestIrb4600::jointLowerLimit(), ct::rbd::TestIrb4600::jointUpperLimit(), ct::rbd::InverseKinematicsSettings::maxNumTrials_, ct::rbd::tpl::RigidBodyPose< SCALAR >::position(), ct::optcon::IpoptSettings::printLevel_, ct::rbd::InverseKinematicsSettings::randomizeInitialGuess_, ct::optcon::NlpSolverSettings::solverType_, and ct::rbd::InverseKinematicsSettings::validationTol_.

main()

int main	(	int	argc,
		char **	argv
	)

Variable Documentation

njoints

const size_t njoints = ct::rbd::TestIrb4600::Kinematics::NJOINTS

Referenced by main(), and TEST().