DualArmTest Class Reference

Inheritance diagram for DualArmTest:

Protected Member Functions
void	SetUp () override
void	TearDown () override

Protected Attributes
mjModel *	model = nullptr
mjData *	data = nullptr
mj_kdl::Robot	arm1
mj_kdl::Robot	arm2
std::unique_ptr< KDL::ChainFkSolverPos_recursive >	fk1
std::unique_ptr< KDL::ChainFkSolverPos_recursive >	fk2
std::unique_ptr< KDL::ChainDynParam >	dyn1
std::unique_ptr< KDL::ChainDynParam >	dyn2
KDL::JntArray	q_home
int	n = 0

Detailed Description

Definition at line 42 of file test_dual_arm.cpp.

Member Function Documentation

SetUp()

void DualArmTest::SetUp ( )

inlineoverrideprotected

Definition at line 55 of file test_dual_arm.cpp.

References mj_kdl::SceneSpec::add_floor, arm1, arm2, mj_kdl::build_scene(), mj_kdl::Robot::chain, data, dyn1, dyn2, mj_kdl::RobotSpec::euler, fk1, fk2, mj_kdl::SceneSpec::gravity_z, mj_kdl::init_robot_from_mjcf(), model, n, mj_kdl::Robot::n_joints, mj_kdl::RobotSpec::path, mj_kdl::RobotSpec::pos, mj_kdl::RobotSpec::prefix, q_home, mj_kdl::SceneSpec::robots, TEST_INFO, and mj_kdl::SceneSpec::timestep.

TearDown()

void DualArmTest::TearDown ( )

inlineoverrideprotected

Definition at line 107 of file test_dual_arm.cpp.

References arm1, arm2, mj_kdl::cleanup(), data, mj_kdl::destroy_scene(), and model.

Member Data Documentation

arm1

mj_kdl::Robot DualArmTest::arm1

protected

Definition at line 47 of file test_dual_arm.cpp.

Referenced by SetUp(), and TearDown().

arm2

mj_kdl::Robot DualArmTest::arm2

protected

Definition at line 47 of file test_dual_arm.cpp.

Referenced by SetUp(), and TearDown().

data

mjData* DualArmTest::data = nullptr

protected

Definition at line 46 of file test_dual_arm.cpp.

Referenced by SetUp(), and TearDown().

dyn1

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

protected

Definition at line 50 of file test_dual_arm.cpp.

Referenced by SetUp().

dyn2

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

protected

Definition at line 51 of file test_dual_arm.cpp.

Referenced by SetUp().

fk1

std::unique_ptr<KDL::ChainFkSolverPos_recursive> DualArmTest::fk1

protected

Definition at line 48 of file test_dual_arm.cpp.

Referenced by SetUp().

fk2

std::unique_ptr<KDL::ChainFkSolverPos_recursive> DualArmTest::fk2

protected

Definition at line 49 of file test_dual_arm.cpp.

Referenced by SetUp().

model

mjModel* DualArmTest::model = nullptr

protected

Definition at line 45 of file test_dual_arm.cpp.

Referenced by SetUp(), and TearDown().

n

int DualArmTest::n = 0

protected

Definition at line 53 of file test_dual_arm.cpp.

Referenced by SetUp().

q_home

KDL::JntArray DualArmTest::q_home

protected

Definition at line 52 of file test_dual_arm.cpp.

Referenced by SetUp().

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

• test/test_dual_arm.cpp