TaskspaceCostFunctionTest.h File Reference

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

Go to the source code of this file.

Functions
template<size_t state_dim, size_t control_dim>
void	compareCostFunctionOutput (CostFunctionQuadratic< state_dim, control_dim > &costFunction, CostFunctionQuadratic< state_dim, control_dim > &costFunction2)
	This method is called from different unit tests in order to compare the cost, first and second order gradients of two cost functions. More...
	TEST (TaskspaceCostFunctionTests, TestTaskSpacePositionTerm)
	TEST (TaskspaceCostFunctionTests, TestTaskSpacePoseTerm)
	TEST (TaskspaceCostFunctionTests, TestTaskSpacePoseTermCG)

Function Documentation

compareCostFunctionOutput()

template<size_t state_dim, size_t control_dim>

void compareCostFunctionOutput	(	CostFunctionQuadratic< state_dim, control_dim > &	costFunction,
		CostFunctionQuadratic< state_dim, control_dim > &	costFunction2
	)

This method is called from different unit tests in order to compare the cost, first and second order gradients of two cost functions.

Parameters

costFunction	the first cost function to be compared
costFunction2	the second cost function to be compared

Referenced by TEST().

TEST() [1/3]

TEST	(	TaskspaceCostFunctionTests	,
		TestTaskSpacePositionTerm
	)

References compareCostFunctionOutput(), eeId, hyqControlDim, hyqStateDim, kynTpl, t, u, and x.

TEST() [2/3]

TEST	(	TaskspaceCostFunctionTests	,
		TestTaskSpacePoseTerm
	)

References compareCostFunctionOutput(), eeId, hyqControlDim, hyqStateDim, kynTpl, Qpos, Qrot, t, u, and x.

TEST() [3/3]

TEST	(	TaskspaceCostFunctionTests	,
		TestTaskSpacePoseTermCG
	)

References compareCostFunctionOutput(), eeId, hyqControlDim, hyqStateDim, Qpos, Qrot, t, u, and x.