test_robot_model.hpp File Reference

#include <base/samples/RigidBodyStateSE3.hpp>
#include <base/samples/Joints.hpp>
#include "../../core/RobotModel.hpp"

Go to the source code of this file.

Namespaces
namespace	wbc

Functions
void	wbc::printRbs (base::samples::RigidBodyStateSE3 rbs)
base::samples::Joints	wbc::makeRandomJointState (std::vector< std::string > joint_names)
base::samples::RigidBodyStateSE3	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)