ArmModesTest Class Reference

Inheritance diagram for ArmModesTest:

Protected Member Functions
void	SetUp () override
int	servo (int i) const
int	motor (int i) const
int	dof (int i) const
double	max_error (const std::vector< double > &q_ref) const

Protected Attributes
std::string	mjcf_
mj_kdl::SceneSpec	spec_
mj_kdl::Env	env_
mjModel *	model_ = nullptr
mjData *	data_ = nullptr
mj_kdl::Robot	arm_
int	n_ = 0

Detailed Description

Definition at line 65 of file test_control_modes.cpp.

Member Function Documentation

dof()

int ArmModesTest::dof ( int i ) const

inlineprotected

Definition at line 100 of file test_control_modes.cpp.

References arm_, and model_.

max_error()

double ArmModesTest::max_error ( const std::vector< double > & q_ref ) const

inlineprotected

Definition at line 105 of file test_control_modes.cpp.

References arm_, and n_.

motor()

int ArmModesTest::motor ( int i ) const

inlineprotected

Definition at line 99 of file test_control_modes.cpp.

References arm_, and model_.

servo()

int ArmModesTest::servo ( int i ) const

inlineprotected

Definition at line 98 of file test_control_modes.cpp.

References arm_, and model_.

SetUp()

void ArmModesTest::SetUp ( )

inlineoverrideprotected

Definition at line 76 of file test_control_modes.cpp.

References arm_, ArmCase::base, data_, env_, mj_kdl_examples::find_asset(), ArmCase::home, mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), ArmCase::mjcf, mjcf_, model_, n_, mj_kdl::RobotSpec::path, mj_kdl::set_joint_pos(), spec_, and ArmCase::tip.

Member Data Documentation

arm_

mj_kdl::Robot ArmModesTest::arm_

protected

Definition at line 73 of file test_control_modes.cpp.

Referenced by dof(), max_error(), motor(), servo(), and SetUp().

data_

mjData* ArmModesTest::data_ = nullptr

protected

Definition at line 72 of file test_control_modes.cpp.

Referenced by SetUp().

env_

mj_kdl::Env ArmModesTest::env_

protected

Definition at line 70 of file test_control_modes.cpp.

Referenced by SetUp().

mjcf_

std::string ArmModesTest::mjcf_

protected

Definition at line 68 of file test_control_modes.cpp.

Referenced by SetUp().

model_

mjModel* ArmModesTest::model_ = nullptr

protected

Definition at line 71 of file test_control_modes.cpp.

Referenced by dof(), motor(), servo(), and SetUp().

n_

int ArmModesTest::n_ = 0

protected

Definition at line 74 of file test_control_modes.cpp.

Referenced by max_error(), and SetUp().

spec_

mj_kdl::SceneSpec ArmModesTest::spec_

protected

Definition at line 69 of file test_control_modes.cpp.

Referenced by SetUp().

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The documentation for this class was generated from the following file:

• test/test_control_modes.cpp