mj-kdl-wrapper  0.1.0
MuJoCo + KDL bridge for robot kinematics and dynamics
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Protected Member Functions | Protected Attributes | List of all members
MjcfGripperTest Class Reference
Inheritance diagram for MjcfGripperTest:

Protected Member Functions

void SetUp () override
 
void TearDown () override
 

Protected Attributes

fs::path root_
 
mjModel * model_ = nullptr
 
mjData * data_ = nullptr
 
mj_kdl::Robot s_
 
unsigned n_ = 0
 
std::unique_ptr< KDL::ChainFkSolverPos_recursive > fk_
 

Detailed Description

Definition at line 125 of file test_mjcf_load.cpp.

Member Function Documentation

◆ SetUp()

void MjcfGripperTest::SetUp ( )
inlineoverrideprotected

Definition at line 135 of file test_mjcf_load.cpp.

References mj_kdl::AttachmentSpec::attach_to, mj_kdl::RobotSpec::attachments, mj_kdl::build_scene(), mj_kdl::Robot::chain, data_, mj_kdl::AttachmentSpec::euler, fk_, mj_kdl::init_robot_from_mjcf(), mj_kdl::AttachmentSpec::mjcf_path, model_, n_, mj_kdl::RobotSpec::path, mj_kdl::AttachmentSpec::pos, mj_kdl::AttachmentSpec::prefix, mj_kdl::SceneSpec::robots, root_, s_, and TEST_INFO.

◆ TearDown()

void MjcfGripperTest::TearDown ( )
inlineoverrideprotected

Definition at line 180 of file test_mjcf_load.cpp.

References mj_kdl::cleanup(), data_, mj_kdl::destroy_scene(), model_, and s_.

Member Data Documentation

◆ data_

mjData* MjcfGripperTest::data_ = nullptr
protected

Definition at line 130 of file test_mjcf_load.cpp.

Referenced by SetUp(), and TearDown().

◆ fk_

std::unique_ptr<KDL::ChainFkSolverPos_recursive> MjcfGripperTest::fk_
protected

Definition at line 133 of file test_mjcf_load.cpp.

Referenced by SetUp().

◆ model_

mjModel* MjcfGripperTest::model_ = nullptr
protected

Definition at line 129 of file test_mjcf_load.cpp.

Referenced by SetUp(), and TearDown().

◆ n_

unsigned MjcfGripperTest::n_ = 0
protected

Definition at line 132 of file test_mjcf_load.cpp.

Referenced by SetUp().

◆ root_

fs::path MjcfGripperTest::root_
protected

Definition at line 128 of file test_mjcf_load.cpp.

Referenced by SetUp().

◆ s_

mj_kdl::Robot MjcfGripperTest::s_
protected

Definition at line 131 of file test_mjcf_load.cpp.

Referenced by SetUp(), and TearDown().

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