#include <boost/test/unit_test.hpp>
#include "robot_models/hyrodyn/RobotModelHyrodyn.hpp"
#include "robot_models/rbdl/RobotModelRBDL.hpp"
#include "robot_models/pinocchio/RobotModelPinocchio.hpp"
#include "test_robot_model.hpp"

Macros
#define	BOOST_TEST_DYN_LINK

#define	BOOST_TEST_MAIN

Functions
void	compareRbs (base::samples::RigidBodyStateSE3 rbs_a, base::samples::RigidBodyStateSE3 rbs_b, double default_accuracy=1e-3)

uint	jointIdx (vector< string > joint_names, string joint_name)

void	compareJacobian (base::MatrixXd mat_a, base::MatrixXd mat_b, vector< string > joint_names_a, vector< string > joint_names_b, bool floating_base, double default_accuracy=1e-3)

void	compareMassInertiaMat (base::MatrixXd mat_a, base::MatrixXd mat_b, vector< string > joint_names_a, vector< string > joint_names_b, double default_accuracy=1e-3)

void	compareVect (base::VectorXd vect_a, base::VectorXd vect_b, vector< string > joint_names_a, vector< string > joint_names_b, double default_accuracy=1e-3)

void	compareRobotModels (RobotModelConfig cfg, string tip_frame, bool verbose=false)

	BOOST_AUTO_TEST_CASE (fixed_base)

	BOOST_AUTO_TEST_CASE (floating_base)

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() [1/2]

BOOST_AUTO_TEST_CASE ( fixed_base )

◆ BOOST_AUTO_TEST_CASE() [2/2]

BOOST_AUTO_TEST_CASE ( floating_base )

◆ compareJacobian()

void compareJacobian	(	base::MatrixXd	mat_a,
		base::MatrixXd	mat_b,
		vector< string >	joint_names_a,
		vector< string >	joint_names_b,
		bool	floating_base,
		double	default_accuracy = 1e-3 )

◆ compareMassInertiaMat()

void compareMassInertiaMat	(	base::MatrixXd	mat_a,
		base::MatrixXd	mat_b,
		vector< string >	joint_names_a,
		vector< string >	joint_names_b,
		double	default_accuracy = 1e-3 )

◆ compareRbs()

void compareRbs	(	base::samples::RigidBodyStateSE3	rbs_a,
		base::samples::RigidBodyStateSE3	rbs_b,
		double	default_accuracy = 1e-3 )

◆ compareRobotModels()

void compareRobotModels	(	RobotModelConfig	cfg,
		string	tip_frame,
		bool	verbose = false )

◆ compareVect()

void compareVect	(	base::VectorXd	vect_a,
		base::VectorXd	vect_b,
		vector< string >	joint_names_a,
		vector< string >	joint_names_b,
		double	default_accuracy = 1e-3 )

◆ jointIdx()

uint jointIdx	(	vector< string >	joint_names,
		string	joint_name )

Macros

Functions