DualArmTest Class Reference

Inheritance diagram for DualArmTest:

Protected Member Functions
void	SetUp () override
int	dof (const mj_kdl::Robot &r, int j) const

Protected Attributes
mj_kdl::Env	env
mj_kdl::Robot	arm1
mj_kdl::Robot	arm2
std::unique_ptr< KDL::ChainDynParam >	dyn1
std::unique_ptr< KDL::ChainDynParam >	dyn2
const KDL::JntArray	q_home = ex::home_q(7)

Detailed Description

Definition at line 23 of file test_dual_arm.cpp.

Member Function Documentation

dof()

int DualArmTest::dof ( const mj_kdl::Robot & r, int j ) const

inlineprotected

Definition at line 58 of file test_dual_arm.cpp.

References env, and mj_kdl::Robot::joint_names.

SetUp()

void DualArmTest::SetUp ( )

inlineoverrideprotected

Definition at line 31 of file test_dual_arm.cpp.

References mj_kdl::SceneSpec::add_floor, mj_kdl::SceneSpec::add_skybox, arm1, arm2, dyn1, dyn2, env, mj_kdl_examples::find_asset(), mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), mj_kdl::RobotSpec::path, mj_kdl::RobotSpec::pos, mj_kdl::RobotSpec::prefix, mj_kdl::RobotSpec::quat, mj_kdl::SceneSpec::robots, and mj_kdl::SceneSpec::timestep.

Member Data Documentation

arm1

mj_kdl::Robot DualArmTest::arm1

protected

Definition at line 27 of file test_dual_arm.cpp.

Referenced by SetUp().

arm2

mj_kdl::Robot DualArmTest::arm2

protected

Definition at line 27 of file test_dual_arm.cpp.

Referenced by SetUp().

dyn1

std::unique_ptr<KDL::ChainDynParam> DualArmTest::dyn1

protected

Definition at line 28 of file test_dual_arm.cpp.

Referenced by SetUp().

dyn2

std::unique_ptr<KDL::ChainDynParam> DualArmTest::dyn2

protected

Definition at line 28 of file test_dual_arm.cpp.

Referenced by SetUp().

env

mj_kdl::Env DualArmTest::env

protected

Definition at line 26 of file test_dual_arm.cpp.

Referenced by dof(), and SetUp().

q_home

const KDL::JntArray DualArmTest::q_home = ex::home_q(7)

protected

Definition at line 29 of file test_dual_arm.cpp.

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

• test/test_dual_arm.cpp