RigidBodyPoseTest.cpp File Reference

#include <ct/rbd/rbd.h>
#include "ct/rbd/state/RigidBodyPose.h"
#include <memory>
#include <array>
#include <gtest/gtest.h>

Functions
void	testEqual (const RigidBodyPose &pose1, const RigidBodyPose &pose2)
void	testNotEqual (const RigidBodyPose &pose1, const RigidBodyPose &pose2)
	TEST (RigidBodyPoseTest, storageTest)
	TEST (RigidBodyPoseTest, asignmentTest)
	TEST (RigidBodyPoseTest, conversionTest)
	TEST (RigidBodyPoseTest, gravityTest)
	TEST (RigidBodyPoseTest, rotationTest)
int	main (int argc, char **argv)

Function Documentation

testEqual()

void testEqual	(	const RigidBodyPose &	pose1,
		const RigidBodyPose &	pose2
	)

References ct::rbd::tpl::RigidBodyPose< SCALAR >::computeGravityB(), ct::rbd::tpl::RigidBodyPose< SCALAR >::computeGravityB6D(), ct::rbd::tpl::RigidBodyPose< SCALAR >::getEulerAnglesXyz(), ct::rbd::tpl::RigidBodyPose< SCALAR >::getRotationMatrix(), ct::rbd::tpl::RigidBodyPose< SCALAR >::getRotationQuaternion(), ct::rbd::tpl::RigidBodyPose< SCALAR >::isNear(), and ct::rbd::tpl::RigidBodyPose< SCALAR >::position().

Referenced by TEST().

testNotEqual()

void testNotEqual	(	const RigidBodyPose &	pose1,
		const RigidBodyPose &	pose2
	)

References ct::rbd::tpl::RigidBodyPose< SCALAR >::computeGravityB(), ct::rbd::tpl::RigidBodyPose< SCALAR >::computeGravityB6D(), ct::rbd::tpl::RigidBodyPose< SCALAR >::getEulerAnglesXyz(), ct::rbd::tpl::RigidBodyPose< SCALAR >::getRotationMatrix(), ct::rbd::tpl::RigidBodyPose< SCALAR >::getRotationQuaternion(), and ct::rbd::tpl::RigidBodyPose< SCALAR >::isNear().

Referenced by TEST().

TEST() [1/5]

TEST	(	RigidBodyPoseTest	,
		storageTest
	)

References ct::rbd::tpl::RigidBodyPose< double >::EULER, ct::rbd::tpl::RigidBodyPose< SCALAR >::getStorageType(), and ct::rbd::tpl::RigidBodyPose< double >::QUAT.

TEST() [2/5]

TEST	(	RigidBodyPoseTest	,
		asignmentTest
	)

References ct::rbd::tpl::RigidBodyPose< double >::EULER, ct::rbd::tpl::RigidBodyPose< double >::QUAT, ct::rbd::tpl::RigidBodyPose< SCALAR >::setRandom(), testEqual(), and testNotEqual().

TEST() [3/5]

TEST	(	RigidBodyPoseTest	,
		conversionTest
	)

References ct::rbd::tpl::RigidBodyPose< double >::EULER, ct::rbd::tpl::RigidBodyPose< SCALAR >::getEulerAnglesXyz(), ct::rbd::tpl::RigidBodyPose< SCALAR >::getRotationQuaternion(), ct::rbd::tpl::RigidBodyPose< SCALAR >::position(), ct::rbd::tpl::RigidBodyPose< double >::QUAT, ct::rbd::tpl::RigidBodyPose< SCALAR >::setFromEulerAnglesXyz(), ct::rbd::tpl::RigidBodyPose< SCALAR >::setFromRotationQuaternion(), ct::rbd::tpl::RigidBodyPose< SCALAR >::setIdentity(), ct::rbd::tpl::RigidBodyPose< SCALAR >::setRandom(), and testEqual().

TEST() [4/5]

TEST	(	RigidBodyPoseTest	,
		gravityTest
	)

References ct::rbd::tpl::RigidBodyPose< SCALAR >::computeGravityB(), ct::rbd::tpl::RigidBodyPose< SCALAR >::computeGravityB6D(), ct::rbd::tpl::RigidBodyPose< double >::EULER, i, ct::rbd::tpl::RigidBodyPose< double >::QUAT, ct::rbd::tpl::RigidBodyPose< SCALAR >::setFromEulerAnglesXyz(), ct::rbd::tpl::RigidBodyPose< SCALAR >::setIdentity(), and ct::rbd::tpl::RigidBodyPose< SCALAR >::setRandom().

TEST() [5/5]

TEST	(	RigidBodyPoseTest	,
		rotationTest
	)

References ct::rbd::tpl::RigidBodyPose< double >::EULER, ct::rbd::tpl::RigidBodyPose< SCALAR >::getRotationMatrix(), ct::rbd::tpl::RigidBodyPose< double >::QUAT, ct::rbd::tpl::RigidBodyPose< SCALAR >::rotateBaseToInertia(), and ct::rbd::tpl::RigidBodyPose< SCALAR >::rotateInertiaToBase().

main()

int main	(	int	argc,
		char **	argv
	)