MjcfTrqCtrlTest Class Reference

Inheritance diagram for MjcfTrqCtrlTest:

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_
std::unique_ptr< KDL::ChainDynParam >	dyn_
KDL::JntArray	q_home_

Detailed Description

Definition at line 24 of file test_mjcf_trq_ctrl.cpp.

Member Function Documentation

SetUp()

void MjcfTrqCtrlTest::SetUp ( )

inlineoverrideprotected

Definition at line 37 of file test_mjcf_trq_ctrl.cpp.

References mj_kdl::SceneSpec::add_floor, mj_kdl::SceneSpec::add_skybox, mj_kdl::RobotSpec::attachments, mj_kdl::build_scene(), data_, dyn_, mj_kdl_examples::find_asset(), mj_kdl_examples::find_menagerie_model(), fk_, mj_kdl::init_robot_from_mjcf(), model_, n_, mj_kdl::RobotSpec::path, q_home_, mj_kdl::SceneSpec::robots, s_, mj_kdl::set_joint_pos(), mj_kdl::Site, and mj_kdl::SceneSpec::timestep.

TearDown()

void MjcfTrqCtrlTest::TearDown ( )

inlineoverrideprotected

Definition at line 86 of file test_mjcf_trq_ctrl.cpp.

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

Member Data Documentation

data_

mjData* MjcfTrqCtrlTest::data_ = nullptr

protected

Definition at line 29 of file test_mjcf_trq_ctrl.cpp.

Referenced by SetUp(), and TearDown().

dyn_

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

protected

Definition at line 34 of file test_mjcf_trq_ctrl.cpp.

Referenced by SetUp().

fk_

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

protected

Definition at line 33 of file test_mjcf_trq_ctrl.cpp.

Referenced by SetUp().

model_

mjModel* MjcfTrqCtrlTest::model_ = nullptr

protected

Definition at line 28 of file test_mjcf_trq_ctrl.cpp.

Referenced by SetUp(), and TearDown().

n_

unsigned MjcfTrqCtrlTest::n_ = 0

protected

Definition at line 32 of file test_mjcf_trq_ctrl.cpp.

Referenced by SetUp().

q_home_

KDL::JntArray MjcfTrqCtrlTest::q_home_

protected

Definition at line 35 of file test_mjcf_trq_ctrl.cpp.

Referenced by SetUp().

root_

fs::path MjcfTrqCtrlTest::root_

protected

Definition at line 27 of file test_mjcf_trq_ctrl.cpp.

s_

mj_kdl::Robot MjcfTrqCtrlTest::s_

protected

Definition at line 31 of file test_mjcf_trq_ctrl.cpp.

Referenced by SetUp(), and TearDown().

---

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

• test/test_mjcf_trq_ctrl.cpp