RBDLinearizerTest.cpp File Reference

#include <ct/rbd/rbd.h>
#include <memory>
#include <array>
#include <iostream>
#include <gtest/gtest.h>
#include <ct/rbd/systems/linear/RbdLinearizer.h>
#include "ct/rbd/systems/FixBaseFDSystem.h"
#include "ct/rbd/systems/FloatingBaseFDSystem.h"
#include "../../models/testIrb4600/RobCoGenTestIrb4600.h"
#include "../../models/testhyq/RobCoGenTestHyQ.h"

Functions
	TEST (RBDLinearizerTest, NumDiffComparisonFixedBase)
	TEST (RBDLinearizerTest, NumDiffComparisonFloatingBase)
int	main (int argc, char **argv)

Function Documentation

TEST() [1/2]

TEST	(	RBDLinearizerTest	,
		NumDiffComparisonFixedBase
	)

References ct::core::SystemLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeControl(), ct::rbd::RbdLinearizer< SYSTEM >::getDerivativeControl(), ct::core::SystemLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeState(), ct::rbd::RbdLinearizer< SYSTEM >::getDerivativeState(), i, u, and x.

TEST() [2/2]

TEST	(	RBDLinearizerTest	,
		NumDiffComparisonFloatingBase
	)

References ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::CONTROL_DIM, ct::core::SystemLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeControl(), ct::rbd::RbdLinearizer< SYSTEM >::getDerivativeControl(), ct::core::SystemLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeState(), ct::rbd::RbdLinearizer< SYSTEM >::getDerivativeState(), i, ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::STATE_DIM, u, and x.

main()

int main	(	int	argc,
		char **	argv
	)