MjcfPickTest Class Reference

Inheritance diagram for MjcfPickTest:

Protected Member Functions
void	SetUp () override
void	TearDown () override
void	reset_scene ()
void	run_phase (const KDL::JntArray &q_enter, const KDL::JntArray &q_target, double duration, double timeout, double settle_tol, double gripper_cmd)

Protected Attributes
fs::path	root_
mjModel *	model_ = nullptr
mjData *	data_ = nullptr
mj_kdl::Robot	s_
int	fingers_act_ = -1
int	cube_jnt_ = -1
unsigned	n_ = 0
std::unique_ptr< KDL::ChainFkSolverPos_recursive >	fk_
std::unique_ptr< KDL::ChainDynParam >	dyn_
std::unique_ptr< KDL::ChainIkSolverVel_pinv >	ik_vel_
std::unique_ptr< KDL::ChainIkSolverPos_NR_JL >	ik_
KDL::JntArray	q_home_
KDL::JntArray	q_pregrasp_
KDL::JntArray	q_grasp_
KDL::JntArray	q_lift_

Detailed Description

Definition at line 60 of file test_mjcf_pick.cpp.

Member Function Documentation

reset_scene()

void MjcfPickTest::reset_scene ( )

inlineprotected

Definition at line 198 of file test_mjcf_pick.cpp.

References mj_kdl::Robot::ctrl_mode, cube_jnt_, data_, fingers_act_, mj_kdl::Robot::jnt_pos_cmd, mj_kdl::Robot::jnt_trq_cmd, mj_kdl::Robot::kdl_to_mj_dof, mj_kdl::Robot::kdl_to_mj_qpos, model_, n_, q_home_, s_, mj_kdl::set_joint_pos(), mj_kdl::TORQUE, and mj_kdl::update().

run_phase()

void MjcfPickTest::run_phase ( const KDL::JntArray &  q_enter, const KDL::JntArray &  q_target, double  duration, double  timeout, double  settle_tol, double  gripper_cmd  )

inlineprotected

Definition at line 223 of file test_mjcf_pick.cpp.

References data_, dyn_, fingers_act_, mj_kdl::Robot::jnt_pos_msr, mj_kdl::Robot::jnt_trq_cmd, mj_kdl::Robot::kdl_to_mj_dof, model_, n_, s_, and mj_kdl::update().

SetUp()

void MjcfPickTest::SetUp ( )

inlineoverrideprotected

Definition at line 79 of file test_mjcf_pick.cpp.

References mj_kdl::AttachmentSpec::attach_to, mj_kdl::RobotSpec::attachments, mj_kdl::BOX, mj_kdl::build_scene(), mj_kdl::Robot::chain, mj_kdl::SceneObject::condim, cube_jnt_, data_, dyn_, mj_kdl::AttachmentSpec::euler, fingers_act_, fk_, mj_kdl::SceneObject::friction, ik_, ik_vel_, mj_kdl::init_robot_from_mjcf(), mj_kdl::Robot::kdl_to_mj_dof, mj_kdl::SceneObject::mass, mj_kdl::AttachmentSpec::mjcf_path, model_, n_, mj_kdl::SceneObject::name, mj_kdl::SceneSpec::objects, mj_kdl::RobotSpec::path, mj_kdl::AttachmentSpec::pos, mj_kdl::SceneObject::pos, mj_kdl::AttachmentSpec::prefix, q_grasp_, q_home_, q_lift_, q_pregrasp_, mj_kdl::SceneObject::rgba, mj_kdl::SceneSpec::robots, root_, s_, mj_kdl::SceneObject::shape, mj_kdl::SceneObject::size, and TEST_WARN.

TearDown()

void MjcfPickTest::TearDown ( )

inlineoverrideprotected

Definition at line 189 of file test_mjcf_pick.cpp.

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

Member Data Documentation

cube_jnt_

int MjcfPickTest::cube_jnt_ = -1

protected

Definition at line 69 of file test_mjcf_pick.cpp.

Referenced by reset_scene(), and SetUp().

data_

mjData* MjcfPickTest::data_ = nullptr

protected

Definition at line 65 of file test_mjcf_pick.cpp.

Referenced by reset_scene(), run_phase(), SetUp(), and TearDown().

dyn_

std::unique_ptr<KDL::ChainDynParam> MjcfPickTest::dyn_

protected

Definition at line 73 of file test_mjcf_pick.cpp.

Referenced by run_phase(), and SetUp().

fingers_act_

int MjcfPickTest::fingers_act_ = -1

protected

Definition at line 68 of file test_mjcf_pick.cpp.

Referenced by reset_scene(), run_phase(), and SetUp().

fk_

std::unique_ptr<KDL::ChainFkSolverPos_recursive> MjcfPickTest::fk_

protected

Definition at line 72 of file test_mjcf_pick.cpp.

Referenced by SetUp().

ik_

std::unique_ptr<KDL::ChainIkSolverPos_NR_JL> MjcfPickTest::ik_

protected

Definition at line 75 of file test_mjcf_pick.cpp.

Referenced by SetUp().

ik_vel_

std::unique_ptr<KDL::ChainIkSolverVel_pinv> MjcfPickTest::ik_vel_

protected

Definition at line 74 of file test_mjcf_pick.cpp.

Referenced by SetUp().

model_

mjModel* MjcfPickTest::model_ = nullptr

protected

Definition at line 64 of file test_mjcf_pick.cpp.

Referenced by reset_scene(), run_phase(), SetUp(), and TearDown().

n_

unsigned MjcfPickTest::n_ = 0

protected

Definition at line 70 of file test_mjcf_pick.cpp.

Referenced by reset_scene(), run_phase(), and SetUp().

q_grasp_

KDL::JntArray MjcfPickTest::q_grasp_

protected

Definition at line 77 of file test_mjcf_pick.cpp.

Referenced by SetUp().

q_home_

KDL::JntArray MjcfPickTest::q_home_

protected

Definition at line 77 of file test_mjcf_pick.cpp.

Referenced by reset_scene(), and SetUp().

q_lift_

KDL::JntArray MjcfPickTest::q_lift_

protected

Definition at line 77 of file test_mjcf_pick.cpp.

Referenced by SetUp().

q_pregrasp_

KDL::JntArray MjcfPickTest::q_pregrasp_

protected

Definition at line 77 of file test_mjcf_pick.cpp.

Referenced by SetUp().

root_

fs::path MjcfPickTest::root_

protected

Definition at line 63 of file test_mjcf_pick.cpp.

Referenced by SetUp().

s_

mj_kdl::Robot MjcfPickTest::s_

protected

Definition at line 67 of file test_mjcf_pick.cpp.

Referenced by reset_scene(), run_phase(), SetUp(), and TearDown().

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

• test/test_mjcf_pick.cpp