test_robot_model.hpp File Reference

#include "../../types/RigidBodyState.hpp"
#include "../../types/JointState.hpp"
#include "../../core/RobotModel.hpp"

Go to the source code of this file.

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 std::string &tip_frame, bool verbose=false)
void	wbc::testSpaceJacobian (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false)
void	wbc::testBodyJacobian (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false)
void	wbc::testCoMJacobian (RobotModelPtr robot_model, bool verbose)
void	wbc::testDynamics (RobotModelPtr robot_model, bool verbose)
void	wbc::testInverseDynamics (RobotModelPtr robot_model, bool verbose)