test_control_modes.cpp File Reference

#include <gtest/gtest.h>
#include "mj_kdl_wrapper/mj_kdl_wrapper.hpp"
#include "common.hpp"
#include "example_paths.hpp"
#include <kdl/chaindynparam.hpp>
#include <cmath>
#include <filesystem>
#include <string>
#include <vector>

Go to the source code of this file.

Classes
struct	ArmCase
class	ArmModesTest
class	MotorWheelModesTest
class	AttachedArmModesTest

Functions
	TEST_P (ArmModesTest, TorqueGroupIsAddedAndStartsDisabled)
	TEST_P (ArmModesTest, PositionTracksAJointTrajectory)
	TEST_P (ArmModesTest, SwitchesBetweenPositionAndTorqueWithoutAJump)
	TEST_P (ArmModesTest, GravityIsCompensatedOnlyOutsideTorque)
	TEST_P (ArmModesTest, TorqueIsLimitedByTheModelsForcerange)
	TEST_P (ArmModesTest, QfrcAppliedIsLeftToTheUser)
	TEST_P (ArmModesTest, VelocityModeTracksTheJointVelocityCommand)
	TEST_P (ArmModesTest, TwoArmsRunDifferentModes)
	INSTANTIATE_TEST_SUITE_P (Arms, ArmModesTest, testing::ValuesIn(kArms), [](const auto &info) { return std::string(info.param.name);})
	TEST (GripperModesTest, GripperStaysInPositionWhileTheArmSwitches)
	TEST_F (MotorWheelModesTest, OnlyTheListedJointTakesModes)
	TEST_F (MotorWheelModesTest, VelocityTracksThenTorqueTakesOver)
	TEST_F (MotorWheelModesTest, SceneActuatorFlagsAClampedCommand)
	TEST_F (MotorWheelModesTest, ForceLimitsFollowTheActiveMode)
	TEST_F (AttachedArmModesTest, EachArmGetsGroupsOfItsOwn)
	TEST_F (AttachedArmModesTest, OneArmSwitchesAndHoldsWhileTheOtherStaysInPosition)
	TEST_F (AttachedArmModesTest, AnAttachmentWithoutModesGetsNone)
int	main (int argc, char *argv[])

Function Documentation

INSTANTIATE_TEST_SUITE_P()

INSTANTIATE_TEST_SUITE_P	(	Arms	,
		ArmModesTest	,
		testing::ValuesIn(kArms)	,
		[] (const auto &info) { return std::string(info.param.name);}	)

main()

int main	(	int	argc,
		char *	argv[] )

Definition at line 568 of file test_control_modes.cpp.

TEST()

TEST	(	GripperModesTest	,
		GripperStaysInPositionWhileTheArmSwitches	)

Definition at line 313 of file test_control_modes.cpp.

References mj_kdl::SceneSpec::add_floor, mj_kdl::SceneSpec::add_skybox, mj_kdl::RobotSpec::attachments, mj_kdl::Robot::chain, mj_kdl::Env::data, mj_kdl_examples::find_asset(), mj_kdl::SceneSpec::gravity_z, mj_kdl_examples::gripper_attachment(), mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), mj_kdl::RobotPorts::jnt_pos_msr, mj_kdl::RobotPorts::jnt_trq_cmd, mj_kdl::RobotPorts::jnt_vel_msr, KDL::ChainDynParam::JntToGravity(), mj_kdl::Env::model, mj_kdl::RobotSpec::path, mj_kdl::SceneSpec::robots, mj_kdl::set_control_mode(), mj_kdl::set_joint_pos(), mj_kdl::step(), mj_kdl::SceneSpec::timestep, mj_kdl::TORQUE, and mj_kdl::update().

TEST_F() [1/7]

TEST_F	(	AttachedArmModesTest	,
		AnAttachmentWithoutModesGetsNone	)

Definition at line 556 of file test_control_modes.cpp.

References mj_kdl::init_env(), mj_kdl::Env::model, and mj_kdl::SceneSpec::robots.

TEST_F() [2/7]

TEST_F	(	AttachedArmModesTest	,
		EachArmGetsGroupsOfItsOwn	)

Definition at line 508 of file test_control_modes.cpp.

References mj_kdl::POSITION.

TEST_F() [3/7]

TEST_F	(	AttachedArmModesTest	,
		OneArmSwitchesAndHoldsWhileTheOtherStaysInPosition	)

Definition at line 522 of file test_control_modes.cpp.

References KDL::ChainDynParam::JntToGravity(), mj_kdl::set_control_mode(), mj_kdl::step(), mj_kdl::TORQUE, and mj_kdl::update().

TEST_F() [4/7]

TEST_F	(	MotorWheelModesTest	,
		ForceLimitsFollowTheActiveMode	)

Definition at line 449 of file test_control_modes.cpp.

References mj_kdl::RobotPorts::ctrl_mode, mj_kdl::init_robot_from_mjcf(), mj_kdl::joint_force_limits(), mj_kdl::Robot::n_joints, mj_kdl::set_control_mode(), mj_kdl::TORQUE, and mj_kdl::VELOCITY.

TEST_F() [5/7]

TEST_F	(	MotorWheelModesTest	,
		OnlyTheListedJointTakesModes	)

Definition at line 396 of file test_control_modes.cpp.

References mj_kdl::POSITION, and mj_kdl::set_control_mode().

TEST_F() [6/7]

TEST_F	(	MotorWheelModesTest	,
		SceneActuatorFlagsAClampedCommand	)

Definition at line 434 of file test_control_modes.cpp.

References mj_kdl::bind_scene_actuator(), mj_kdl::SceneActuatorCommand::command, mj_kdl::SceneActuatorSlot::ctrl_id, mj_kdl::SceneActuatorCommand::saturated, and mj_kdl::update().

TEST_F() [7/7]

TEST_F	(	MotorWheelModesTest	,
		VelocityTracksThenTorqueTakesOver	)

Definition at line 406 of file test_control_modes.cpp.

References mj_kdl::bind_scene_actuator(), mj_kdl::bind_scene_joint(), mj_kdl::SceneActuatorCommand::command, mj_kdl::SceneJointReading::position, mj_kdl::set_control_mode(), mj_kdl::step(), mj_kdl::TORQUE, mj_kdl::update(), mj_kdl::VELOCITY, and mj_kdl::SceneJointReading::velocity.

TEST_P() [1/8]

TEST_P	(	ArmModesTest	,
		GravityIsCompensatedOnlyOutsideTorque	)

Definition at line 186 of file test_control_modes.cpp.

References KDL::ChainDynParam::JntToGravity(), mj_kdl::POSITION, mj_kdl::set_control_mode(), mj_kdl::TORQUE, and mj_kdl::update().

TEST_P() [2/8]

TEST_P	(	ArmModesTest	,
		PositionTracksAJointTrajectory	)

Definition at line 127 of file test_control_modes.cpp.

References mj_kdl::step(), and mj_kdl::update().

TEST_P() [3/8]

TEST_P	(	ArmModesTest	,
		QfrcAppliedIsLeftToTheUser	)

Definition at line 229 of file test_control_modes.cpp.

References mj_kdl::POSITION, mj_kdl::set_control_mode(), mj_kdl::TORQUE, and mj_kdl::update().

TEST_P() [4/8]

TEST_P	(	ArmModesTest	,
		SwitchesBetweenPositionAndTorqueWithoutAJump	)

Definition at line 144 of file test_control_modes.cpp.

References KDL::ChainDynParam::JntToGravity(), mj_kdl::POSITION, mj_kdl::set_control_mode(), mj_kdl::step(), mj_kdl::TORQUE, and mj_kdl::update().

TEST_P() [5/8]

TEST_P	(	ArmModesTest	,
		TorqueGroupIsAddedAndStartsDisabled	)

Definition at line 113 of file test_control_modes.cpp.

References mj_kdl::POSITION.

TEST_P() [6/8]

TEST_P	(	ArmModesTest	,
		TorqueIsLimitedByTheModelsForcerange	)

Definition at line 211 of file test_control_modes.cpp.

References mj_kdl::joint_force_limits(), mj_kdl::set_control_mode(), mj_kdl::TORQUE, and mj_kdl::update().

TEST_P() [7/8]

TEST_P	(	ArmModesTest	,
		TwoArmsRunDifferentModes	)

Definition at line 284 of file test_control_modes.cpp.

References ArmCase::base, mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), mj_kdl::Robot::joint_names, mj_kdl::Env::model, mj_kdl::RobotSpec::pos, mj_kdl::RobotSpec::prefix, mj_kdl::set_control_mode(), ArmCase::tip, and mj_kdl::TORQUE.

TEST_P() [8/8]

TEST_P	(	ArmModesTest	,
		VelocityModeTracksTheJointVelocityCommand	)

Definition at line 252 of file test_control_modes.cpp.

References mj_kdl::Env::data, mj_kdl::SceneSpec::gravity_z, mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), mj_kdl::RobotPorts::jnt_vel_cmd, mj_kdl::RobotPorts::jnt_vel_msr, mj_kdl::Robot::joint_names, mj_kdl::Env::model, mj_kdl::SceneSpec::robots, mj_kdl::set_control_mode(), mj_kdl::set_joint_pos(), mj_kdl::step(), mj_kdl::update(), and mj_kdl::VELOCITY.