#include <boost/test/unit_test.hpp>
#include "robot_models/pinocchio/RobotModelPinocchio.hpp"
#include "scenes/acceleration_reduced_tsid/AccelerationSceneReducedTSID.hpp"
#include "solvers/qpoases/QPOasesSolver.hpp"
#include "tasks/SpatialAccelerationTask.hpp"

Macros
#define	BOOST_TEST_DYN_LINK
#define	BOOST_TEST_MAIN

Functions
	BOOST_AUTO_TEST_CASE (simple_test)
	BOOST_AUTO_TEST_CASE (delta_penalty)
	BOOST_AUTO_TEST_CASE (friction_cone_slack)

Macro Definition Documentation

◆ BOOST_TEST_DYN_LINK

#define BOOST_TEST_DYN_LINK

◆ BOOST_TEST_MAIN

#define BOOST_TEST_MAIN

Function Documentation

◆ BOOST_AUTO_TEST_CASE() [1/3]

BOOST_AUTO_TEST_CASE ( delta_penalty )

Check the penalty on the difference between consecutive solver outputs: A scene with delta penalty should show a smaller jump between consecutive solutions than a scene without, when the task reference changes abruptly

◆ BOOST_AUTO_TEST_CASE() [2/3]

BOOST_AUTO_TEST_CASE ( friction_cone_slack )

Check the softened friction cone constraint (one slack variable per contact): When the cone is inactive, the slack variables should be (close to) zero and the solution identical to the hard constraint. When the reference acceleration pushes the contact wrenches against the cone, the softened scene should track the reference better than the hard one, at the cost of a small cone violation

◆ BOOST_AUTO_TEST_CASE() [3/3]

BOOST_AUTO_TEST_CASE ( simple_test )

Check if the WBC scene computes the correct result, i.e., if the reference spatial acceleration matches the solver output, back-projected to Cartesian space

Macros