test_velocity_scene_quadratic_cost.cpp File Reference

#include <boost/test/unit_test.hpp>
#include "robot_models/pinocchio/RobotModelPinocchio.hpp"
#include "scenes/velocity_qp/VelocitySceneQP.hpp"
#include "solvers/qpoases/QPOasesSolver.hpp"
#include "tasks/SpatialVelocityTask.hpp"

Macros
#define	BOOST_TEST_DYN_LINK
#define	BOOST_TEST_MAIN

Functions
	BOOST_AUTO_TEST_CASE (simple_test)

Macro Definition Documentation

BOOST_TEST_DYN_LINK

#define BOOST_TEST_DYN_LINK

BOOST_TEST_MAIN

#define BOOST_TEST_MAIN

Function Documentation

BOOST_AUTO_TEST_CASE()

BOOST_AUTO_TEST_CASE

(

simple_test

)

Check if the WBC scene computes the correct result, i.e., if the reference spatial velocity matches the solver output, back-projected to Cartesian space