test_robot_model.cpp File Reference

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

Namespaces
namespace	wbc

Functions
void	wbc::printRbs (types::RigidBodyState rbs)
types::JointState	wbc::makeRandomJointState (uint n)
types::RigidBodyState	wbc::makeRandomFloatingBaseState ()
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::testInverseDynamics (RobotModelPtr robot_model, bool verbose)