test_mjcf_ft_sensor.cpp File Reference

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

Go to the source code of this file.

Classes
class	MjcfFtSensorTest

Functions
	TEST_F (MjcfFtSensorTest, ReadsNamedWrench)
	TEST_F (MjcfFtSensorTest, ResetReReadsTheWrench)
	TEST_F (MjcfFtSensorTest, RejectsMissingTorqueSensor)
int	main (int argc, char *argv[])

Function Documentation

main()

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

Definition at line 132 of file test_mjcf_ft_sensor.cpp.

TEST_F() [1/3]

TEST_F	(	MjcfFtSensorTest	,
		ReadsNamedWrench	)

Definition at line 64 of file test_mjcf_ft_sensor.cpp.

References KDL::Wrench::force, mj_kdl::ForceTorqueSensor::force_adr, mj_kdl::ForceTorqueSensor::force_sensor, mj_kdl::ForceTorqueSensor::frame_site_id, mj_kdl::Robot::ft_sensors, mj_kdl::get_site_frame(), mj_kdl::init_robot_from_mjcf(), KDL::Frame::M, mj_kdl::ForceTorqueSensor::name, mj_kdl::step(), KDL::Wrench::torque, mj_kdl::ForceTorqueSensor::torque_adr, mj_kdl::ForceTorqueSensor::torque_sensor, mj_kdl::update(), mj_kdl::ForceTorqueReading::wrench, KDL::Vector::x(), KDL::Vector::y(), and KDL::Vector::z().

TEST_F() [2/3]

TEST_F	(	MjcfFtSensorTest	,
		RejectsMissingTorqueSensor	)

Definition at line 117 of file test_mjcf_ft_sensor.cpp.

References mj_kdl::ForceTorqueSensorSpec::force_sensor, mj_kdl::init_robot_from_mjcf(), mj_kdl::ForceTorqueSensorSpec::name, and mj_kdl::ForceTorqueSensorSpec::torque_sensor.

TEST_F() [3/3]

TEST_F	(	MjcfFtSensorTest	,
		ResetReReadsTheWrench	)

Definition at line 99 of file test_mjcf_ft_sensor.cpp.

References KDL::Wrench::force, mj_kdl::ForceTorqueSensor::force_adr, mj_kdl::Robot::ft_sensors, mj_kdl::init_robot_from_mjcf(), mj_kdl::reset(), mj_kdl::ToolFrameSpec::tcp_site, KDL::Wrench::torque, mj_kdl::ForceTorqueSensor::torque_adr, and mj_kdl::ForceTorqueReading::wrench.