test_dual_arm.cpp File Reference

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

Go to the source code of this file.

Classes
class	DualArmTest

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

Function Documentation

main()

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

Definition at line 116 of file test_dual_arm.cpp.

TEST_F() [1/3]

TEST_F	(	DualArmTest	,
		DualArmDrift	)

Definition at line 90 of file test_dual_arm.cpp.

References KDL::Frame::p, mj_kdl_examples::pd_gravity(), mj_kdl_examples::prime_gravity(), mj_kdl::set_control_mode(), mj_kdl::set_joint_pos(), mj_kdl::step(), mj_kdl_examples::tcp_frame(), mj_kdl::TORQUE, and mj_kdl::update().

TEST_F() [2/3]

TEST_F	(	DualArmTest	,
		KdlGravityMatchesMujocoForBothArms	)

Definition at line 74 of file test_dual_arm.cpp.

References KDL::JntArray::data, and mj_kdl::set_joint_pos().

TEST_F() [3/3]

TEST_F	(	DualArmTest	,
		PrefixNamesTheWholeChain	)

Definition at line 64 of file test_dual_arm.cpp.

References mj_kdl::Robot::chain, mj_kdl::cleanup(), KDL::Chain::getNrOfSegments(), mj_kdl::init_robot_from_mjcf(), and mj_kdl::Robot::joint_names.