RobotStateTest.cpp File Reference

#include <ct/rbd/rbd.h>
#include <gtest/gtest.h>

Functions
template<typename T >
bool	areEqual (const T v1, const T v2)
	TEST (RobotStateTest, FloatingBaseInstantiationTest)
	TEST (RobotStateTest, FixBaseInstantiationTest)
	TEST (RobotStateTest, FloatingBaseStateComparison)
int	main (int argc, char **argv)

Function Documentation

areEqual()

template<typename T >

bool areEqual	(	const T	v1,
		const T	v2
	)

Referenced by TEST().

TEST() [1/3]

TEST	(	RobotStateTest	,
		FloatingBaseInstantiationTest
	)

References njoints.

TEST() [2/3]

TEST	(	RobotStateTest	,
		FixBaseInstantiationTest
	)

References njoints.

TEST() [3/3]

TEST	(	RobotStateTest	,
		FloatingBaseStateComparison
	)

References ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::actuatorState(), areEqual(), ct::rbd::RBDState< NJOINTS, SCALAR >::baseLinearVelocity(), ct::rbd::RBDState< NJOINTS, SCALAR >::baseLocalAngularVelocity(), ct::rbd::RBDState< NJOINTS, SCALAR >::baseVelocities(), ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVectorEulerXyz(), ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVectorQuaternion(), i, ct::rbd::RBDState< NJOINTS, SCALAR >::isApprox(), ct::rbd::RBDState< NJOINTS, SCALAR >::jointPositions(), ct::rbd::RBDState< NJOINTS, SCALAR >::jointVelocities(), njoints, ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::rbdState(), ct::rbd::RBDState< NJOINTS, SCALAR >::setRandom(), ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVectorEulerXyz(), ct::rbd::RBDState< NJOINTS, SCALAR >::toStateVectorEulerXyz(), ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVectorEulerXyzUnique(), ct::rbd::RBDState< NJOINTS, SCALAR >::toStateVectorEulerXyzUnique(), ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVectorQuaternion(), and ct::rbd::RBDState< NJOINTS, SCALAR >::toStateVectorQuaternion().

main()

int main	(	int	argc,
		char **	argv
	)