ProjectedFDSystemTest.cpp File Reference

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

Functions
	TEST (ProjectedFDSystemTest, projected_forward_dynamics_test)
	TEST (ProjectedFDSystemTest, projected_forward_dynamics_autodiff_test)
	TEST (ProjectedFDSystemTest, projected_forward_dynamics_codegen_test)
int	main (int argc, char **argv)

Function Documentation

TEST() [1/3]

TEST	(	ProjectedFDSystemTest	,
		projected_forward_dynamics_test
	)

References dt, ct::rbd::RBDState< NJOINTS, SCALAR >::fromStateVectorEulerXyz(), ct::rbd::RBDState< NJOINTS, SCALAR >::fromStateVectorQuaternion(), i, ct::core::Integrator< STATE_DIM, SCALAR >::integrate_n_steps(), ct::rbd::RBDState< NJOINTS, SCALAR >::isApprox(), ct::core::RK4, ct::rbd::RBDState< NJOINTS, SCALAR >::setRandom(), ct::rbd::RBDState< NJOINTS, SCALAR >::toStateVectorEulerXyz(), and ct::rbd::RBDState< NJOINTS, SCALAR >::toStateVectorQuaternion().

TEST() [2/3]

TEST	(	ProjectedFDSystemTest	,
		projected_forward_dynamics_autodiff_test
	)

References control_dim, ct::core::SystemLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeControl(), ct::core::SystemLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeState(), i, ct::rbd::RBDState< NJOINTS, SCALAR >::setRandom(), state_dim, t, ct::rbd::RBDState< NJOINTS, SCALAR >::toStateVectorEulerXyz(), u, and x.

TEST() [3/3]

TEST	(	ProjectedFDSystemTest	,
		projected_forward_dynamics_codegen_test
	)

References control_dim, and state_dim.

main()

int main	(	int	argc,
		char **	argv
	)