Protected Member Functions | |
| void | SetUp () override |
| int | dof (const mj_kdl::Robot &r, unsigned i) const |
| double | max_gravity_error (const mj_kdl::Robot &r) |
Protected Attributes | |
| mj_kdl::Env | env_ |
| mj_kdl::Robot | s_ |
| const KDL::JntArray | q_home_ = ex::home_q(7) |
Detailed Description
Definition at line 22 of file test_mjcf_trq_ctrl.cpp.
Member Function Documentation
◆ dof()
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inlineprotected |
Definition at line 53 of file test_mjcf_trq_ctrl.cpp.
References env_, and mj_kdl::Robot::joint_names.
Referenced by max_gravity_error().
◆ max_gravity_error()
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inlineprotected |
Definition at line 59 of file test_mjcf_trq_ctrl.cpp.
References mj_kdl::Robot::chain, dof(), env_, KDL::ChainDynParam::JntToGravity(), and q_home_.
◆ SetUp()
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inlineoverrideprotected |
Definition at line 29 of file test_mjcf_trq_ctrl.cpp.
References mj_kdl::SceneSpec::add_floor, mj_kdl::SceneSpec::add_skybox, mj_kdl::RobotSpec::attachments, env_, mj_kdl_examples::find_asset(), mj_kdl_examples::gripper_attachment(), mj_kdl_examples::gripper_tool(), mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), mj_kdl::RobotSpec::path, q_home_, mj_kdl::SceneSpec::robots, s_, mj_kdl::set_joint_pos(), and mj_kdl::SceneSpec::timestep.
Member Data Documentation
◆ env_
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protected |
Definition at line 25 of file test_mjcf_trq_ctrl.cpp.
Referenced by dof(), max_gravity_error(), and SetUp().
◆ q_home_
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protected |
Definition at line 27 of file test_mjcf_trq_ctrl.cpp.
Referenced by max_gravity_error(), and SetUp().
◆ s_
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protected |
Definition at line 26 of file test_mjcf_trq_ctrl.cpp.
Referenced by SetUp().
The documentation for this class was generated from the following file:
