rbdJITtests.h File Reference

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

Go to the source code of this file.

Typedefs
using	size_type = ct::core::ADCGScalar
using	KinTpl_t = TestHyQ::tpl::Kinematics< size_type >

Functions
std::shared_ptr< TermTaskspacePosition< KinTpl_t, true, hyqStateDim, hyqControlDim > >	termTaskspace (new TermTaskspacePosition< KinTpl_t, true, hyqStateDim, hyqControlDim >(eeId, Qpos, Eigen::Vector3d::Random()))
std::shared_ptr< TermTaskspacePose< KinTpl_t, true, hyqStateDim, hyqControlDim > >	termTaskspacePose (new TermTaskspacePose< KinTpl_t, true, hyqStateDim, hyqControlDim >(eeId, Qpos, Qrot, Eigen::Vector3d::Random(), Eigen::Vector3d::Random()))
template<typename SCALAR >
Eigen::Matrix< SCALAR, 1, 1 >	testFunctionTaskSpacePosition (const Eigen::Matrix< SCALAR, hyqStateDim+hyqControlDim, 1 > xu)
	test TermTaskSpacePosition term for JIT-compatibility More...
	TEST (RBD_JIT_Tests, TaskspacePositionCostFunctionTest)
template<typename SCALAR >
Eigen::Matrix< SCALAR, 1, 1 >	testFunctionTaskSpacePose (const Eigen::Matrix< SCALAR, hyqStateDim+hyqControlDim, 1 > xu)
	test TermTaskSpacePose term for JIT-compatibility More...
	TEST (RBD_JIT_Tests, TaskspacePoseCostFunctionTest)
template<typename SCALAR >
Eigen::Matrix< SCALAR, 1, 1 >	testFunctionRBDPose (const Eigen::Matrix< SCALAR, 3+3, 1 > &xu)
	test the RigidBodyPose class for JIT-compatibility More...
	TEST (RBD_JIT_Tests, RigidBodyPoseTest)
template<typename SCALAR >
Eigen::Matrix< SCALAR, 1, 1 >	testFunctionRigidBodyState (const Eigen::Matrix< SCALAR, 12, 1 > &state)
	test the RigidBodyState class for JIT-compatibility More...
	TEST (RBD_JIT_Tests, RigidBodyStateTest)
template<typename SCALAR >
Eigen::Matrix< SCALAR, 1, 1 >	testFunctionRBDState (const Eigen::Matrix< SCALAR, hyqStateDim, 1 > &x)
	test the RBDState class for JIT-compatibility More...
	TEST (RBD_JIT_Tests, RBDStateTest)

Variables
bool	verbose = true
const size_t	hyqStateDim = 36
	some global variables required for the TaskSpaceTerm test More...
const size_t	hyqControlDim = 12
KinTpl_t	kynTpl
size_t	eeId = 1
const Eigen::Matrix< double, 3, 3 >	Qpos = Eigen::Matrix<double, 3, 3>::Random()
double	Qrot = 1.0

Typedef Documentation

size_type

using size_type = ct::core::ADCGScalar

KinTpl_t

using KinTpl_t = TestHyQ::tpl::Kinematics<size_type>

Function Documentation

termTaskspace()

std::shared_ptr<TermTaskspacePosition<KinTpl_t, true, hyqStateDim, hyqControlDim> > termTaskspace

(

new TermTaskspacePosition< KinTpl_t, true, hyqStateDim, hyqControlDim >

eeId, Qpos, Eigen::Vector3d::Random()

)

Referenced by testFunctionTaskSpacePosition().

termTaskspacePose()

std::shared_ptr<TermTaskspacePose<KinTpl_t, true, hyqStateDim, hyqControlDim> > termTaskspacePose

(

new TermTaskspacePose< KinTpl_t, true, hyqStateDim, hyqControlDim >

eeId, Qpos, Qrot, Eigen::Vector3d::Random(), Eigen::Vector3d::Random()

)

Referenced by testFunctionTaskSpacePose().

testFunctionTaskSpacePosition()

template<typename SCALAR >

Eigen::Matrix<SCALAR, 1, 1> testFunctionTaskSpacePosition

(

const Eigen::Matrix< SCALAR, hyqStateDim+hyqControlDim, 1 >

xu

)

test TermTaskSpacePosition term for JIT-compatibility

References t, and termTaskspace().

TEST() [1/5]

TEST	(	RBD_JIT_Tests	,
		TaskspacePositionCostFunctionTest
	)

References ct::core::DerivativesCppadSettings::createJacobian_, and verbose.

testFunctionTaskSpacePose()

template<typename SCALAR >

Eigen::Matrix<SCALAR, 1, 1> testFunctionTaskSpacePose

(

const Eigen::Matrix< SCALAR, hyqStateDim+hyqControlDim, 1 >

xu

)

test TermTaskSpacePose term for JIT-compatibility

References t, and termTaskspacePose().

TEST() [2/5]

TEST	(	RBD_JIT_Tests	,
		TaskspacePoseCostFunctionTest
	)

References ct::core::DerivativesCppadSettings::createJacobian_, and verbose.

testFunctionRBDPose()

template<typename SCALAR >

Eigen::Matrix<SCALAR, 1, 1> testFunctionRBDPose

(

const Eigen::Matrix< SCALAR, 3+3, 1 > &

xu

)

test the RigidBodyPose class for JIT-compatibility

References ct::rbd::tpl::RigidBodyPose< SCALAR >::getEulerAnglesXyz(), ct::rbd::tpl::RigidBodyPose< SCALAR >::position(), ct::rbd::tpl::RigidBodyPose< SCALAR >::setFromEulerAnglesXyz(), and t.

TEST() [3/5]

TEST	(	RBD_JIT_Tests	,
		RigidBodyPoseTest
	)

References ct::core::DerivativesCppadSettings::createJacobian_, and verbose.

testFunctionRigidBodyState()

template<typename SCALAR >

Eigen::Matrix<SCALAR, 1, 1> testFunctionRigidBodyState

(

const Eigen::Matrix< SCALAR, 12, 1 > &

state

)

test the RigidBodyState class for JIT-compatibility

References ct::rbd::tpl::RigidBodyState< SCALAR >::pose(), t, and ct::rbd::tpl::RigidBodyState< SCALAR >::velocities().

TEST() [4/5]

TEST	(	RBD_JIT_Tests	,
		RigidBodyStateTest
	)

References ct::core::DerivativesCppadSettings::createJacobian_, and verbose.

testFunctionRBDState()

template<typename SCALAR >

Eigen::Matrix<SCALAR, 1, 1> testFunctionRBDState

(

const Eigen::Matrix< SCALAR, hyqStateDim, 1 > &

x

)

test the RBDState class for JIT-compatibility

References ct::rbd::RBDState< NJOINTS, SCALAR >::base(), ct::rbd::RBDState< NJOINTS, SCALAR >::joints(), ct::rbd::tpl::RigidBodyState< SCALAR >::pose(), t, ct::rbd::RBDState< NJOINTS, SCALAR >::toStateVectorEulerXyz(), and ct::rbd::tpl::RigidBodyState< SCALAR >::velocities().

TEST() [5/5]

TEST	(	RBD_JIT_Tests	,
		RBDStateTest
	)

References ct::core::DerivativesCppadSettings::createJacobian_, and verbose.

Variable Documentation

verbose

bool verbose = true

Referenced by ct::rbd::SimpleArmTrajectoryGenerator< NJOINTS, SCALAR >::generateTrajectory(), ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::loadConfigFile(), main(), ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::TermTaskspaceGeometricJacobian(), and TEST().

hyqStateDim

const size_t hyqStateDim = 36

some global variables required for the TaskSpaceTerm test

Referenced by TEST().

hyqControlDim

const size_t hyqControlDim = 12

Referenced by TEST().

kynTpl

KinTpl_t kynTpl

Referenced by TEST().

eeId

size_t eeId = 1

Referenced by ct::rbd::EEContactModel< Kinematics >::smoothing(), and TEST().

Qpos

const Eigen::Matrix<double, 3, 3> Qpos = Eigen::Matrix<double, 3, 3>::Random()

Referenced by TEST().

Qrot

double Qrot = 1.0

Referenced by TEST().