test_robot_model.cpp File Reference

#include "test_robot_model.hpp"
#include <boost/test/unit_test.hpp>

Namespaces
namespace	wbc

Functions
void	wbc::printRbs (base::samples::RigidBodyStateSE3 rbs)
base::samples::Joints	wbc::makeRandomJointState (vector< string > joint_names)
base::samples::RigidBodyStateSE3	wbc::makeRandomFloatingBaseState ()
base::Twist	wbc::operator- (const base::Pose &a, const base::Pose &b)
void	wbc::testFK (RobotModelPtr robot_model, const string &tip_frame, bool verbose)
void	wbc::testSpaceJacobian (RobotModelPtr robot_model, const string &tip_frame, bool verbose)
void	wbc::testBodyJacobian (RobotModelPtr robot_model, const string &tip_frame, bool verbose)
void	wbc::testCoMJacobian (RobotModelPtr robot_model, bool verbose)
void	wbc::testDynamics (RobotModelPtr robot_model, bool verbose)