AttachedArmModesTest Class Reference

Inheritance diagram for AttachedArmModesTest:

Protected Member Functions
void	SetUp () override

Static Protected Member Functions
static mj_kdl::AttachmentSpec	arm (const std::string &mjcf, const char *site, const char *pfx)

Protected Attributes
mj_kdl::SceneSpec	spec_
mj_kdl::Env	env_
mj_kdl::Robot	left_
mj_kdl::Robot	right_

Static Protected Attributes
static constexpr int	kLeftPos = 4
static constexpr int	kLeftTrq = 5
static constexpr int	kRightPos = 7
static constexpr int	kRightTrq = 8

Detailed Description

Definition at line 465 of file test_control_modes.cpp.

Member Function Documentation

arm()

mj_kdl::AttachmentSpec AttachedArmModesTest::arm ( const std::string & mjcf, const char * site, const char * pfx )

inlinestaticprotected

Definition at line 474 of file test_control_modes.cpp.

References mj_kdl::AttachmentSpec::attach_to, mj_kdl::AttachmentSpec::mjcf_path, mj_kdl::AttachmentSpec::modes, mj_kdl::AttachmentSpec::prefix, and mj_kdl::Site.

Referenced by SetUp().

SetUp()

void AttachedArmModesTest::SetUp ( )

inlineoverrideprotected

Definition at line 484 of file test_control_modes.cpp.

References arm(), mj_kdl::RobotSpec::attachments, env_, mj_kdl_examples::find_asset(), mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), left_, mj_kdl::RobotSpec::path, right_, mj_kdl::set_joint_pos(), and spec_.

Member Data Documentation

env_

mj_kdl::Env AttachedArmModesTest::env_

protected

Definition at line 471 of file test_control_modes.cpp.

Referenced by SetUp().

kLeftPos

int AttachedArmModesTest::kLeftPos = 4

staticconstexprprotected

Definition at line 468 of file test_control_modes.cpp.

kLeftTrq

int AttachedArmModesTest::kLeftTrq = 5

staticprotected

Definition at line 468 of file test_control_modes.cpp.

kRightPos

int AttachedArmModesTest::kRightPos = 7

staticprotected

Definition at line 468 of file test_control_modes.cpp.

kRightTrq

int AttachedArmModesTest::kRightTrq = 8

staticprotected

Definition at line 468 of file test_control_modes.cpp.

left_

mj_kdl::Robot AttachedArmModesTest::left_

protected

Definition at line 472 of file test_control_modes.cpp.

Referenced by SetUp().

right_

mj_kdl::Robot AttachedArmModesTest::right_

protected

Definition at line 472 of file test_control_modes.cpp.

Referenced by SetUp().

spec_

mj_kdl::SceneSpec AttachedArmModesTest::spec_

protected

Definition at line 470 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