wbc/test__robot__model_8hpp_source.html

#ifndef TEST_ROBOT_MODEL_HPP

#define TEST_ROBOT_MODEL_HPP


#include "../../types/RigidBodyState.hpp"

#include "../../types/JointState.hpp"

#include "../../core/RobotModel.hpp"


namespace wbc {

void printRbs(types::RigidBodyState rbs);

types::JointState makeRandomJointState(uint n);

types::RigidBodyState makeRandomFloatingBaseState();

void testFK(RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false);

void testSpaceJacobian(RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false);

void testBodyJacobian(RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false);

void testCoMJacobian(RobotModelPtr robot_model, bool verbose=false);

void testDynamics(RobotModelPtr robot_model, bool verbose);

void testInverseDynamics(RobotModelPtr robot_model, bool verbose);

}

#endif

JointState.hpp

RigidBodyState.hpp

RobotModel.hpp

wbc::types::JointState
The JointState class describes either the state or the command for a set of joints,...
Definition JointState.hpp:13

wbc::types::RigidBodyState
Definition RigidBodyState.hpp:10

wbc
Definition ContactsAccelerationConstraint.cpp:3

wbc::testSpaceJacobian
void testSpaceJacobian(RobotModelPtr robot_model, const string &tip_frame, bool verbose)
Definition test_robot_model.cpp:89

wbc::printRbs
void printRbs(types::RigidBodyState rbs)
Definition test_robot_model.cpp:7

wbc::RobotModelPtr
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:315

wbc::makeRandomFloatingBaseState
types::RigidBodyState makeRandomFloatingBaseState()
Definition test_robot_model.cpp:27

wbc::testCoMJacobian
void testCoMJacobian(RobotModelPtr robot_model, bool verbose)
Definition test_robot_model.cpp:182

wbc::makeRandomJointState
types::JointState makeRandomJointState(uint n)
Definition test_robot_model.cpp:16

wbc::testInverseDynamics
void testInverseDynamics(RobotModelPtr robot_model, bool verbose)
Definition test_robot_model.cpp:226

wbc::testBodyJacobian
void testBodyJacobian(RobotModelPtr robot_model, const string &tip_frame, bool verbose)
Definition test_robot_model.cpp:133

wbc::testDynamics
void testDynamics(RobotModelPtr robot_model, bool verbose)

wbc::testFK
void testFK(RobotModelPtr robot_model, const string &tip_frame, bool verbose)
Definition test_robot_model.cpp:40