test_dual_arm.cpp File Reference

#include "mj_kdl_wrapper/mj_kdl_wrapper.hpp"
#include "test_utils.hpp"
#include <gtest/gtest.h>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/chaindynparam.hpp>
#include <iostream>
#include <iomanip>
#include <cmath>
#include <memory>
#include <string>
#include <filesystem>

Go to the source code of this file.

Classes
class	DualArmTest

Functions
	TEST_F (DualArmTest, GravityInformational)
	TEST_F (DualArmTest, DualArmDrift)
int	main (int argc, char *argv[])

Function Documentation

main()

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

Definition at line 196 of file test_dual_arm.cpp.

TEST_F() [1/2]

TEST_F	(	DualArmTest	,
		DualArmDrift
	)

Definition at line 134 of file test_dual_arm.cpp.

References mj_kdl::set_joint_pos(), mj_kdl::step(), TEST_INFO, and mj_kdl::TORQUE.

TEST_F() [2/2]

TEST_F	(	DualArmTest	,
		GravityInformational
	)

Definition at line 115 of file test_dual_arm.cpp.

References mj_kdl::set_joint_pos(), and TEST_INFO.