test_mjcf_load.cpp File Reference

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

Go to the source code of this file.

Classes
class	MjcfLoadTest
class	MjcfGripperTest
class	JointEdgeCaseTest

Functions
	TEST_F (MjcfLoadTest, ChainFkMatchesTheModelFrames)
	TEST_F (MjcfLoadTest, JointLimitsFollowTheModel)
	TEST_F (MjcfLoadTest, SaveModelXmlRoundTrips)
	TEST_F (MjcfGripperTest, TcpChainMatchesThePinchSite)
	TEST_F (MjcfGripperTest, GripperDriverRangeAndCtrlrange)
	TEST_F (MjcfGripperTest, JointSlotReadsAGripperJointByName)
	TEST_F (MjcfGripperTest, ContactExclusionsAreAdded)
	TEST_F (MjcfGripperTest, AttachToABodyWithAnOffset)
	TEST_F (MjcfGripperTest, CamerasAreAddedWhereTheSpecSays)
	TEST_F (MjcfGripperTest, SitesAreAddedButAnAuthoredSiteWins)
	TEST (MjcfPathTest, RelativeModelPathWithRelativeMeshdir)
	TEST_F (JointEdgeCaseTest, ChainRefusesABodyWithTwoJoints)
	TEST_F (JointEdgeCaseTest, ChainRefusesABallJointOnThePath)
	TEST_F (JointEdgeCaseTest, PlainHingeChainStillBuilds)
	TEST_F (JointEdgeCaseTest, JointSlotRefusesWhatIsNotAScalarJoint)
	TEST (AttachToFrame, ARobotStandsOnAnObjectsNamedFrame)
int	main (int argc, char *argv[])

Function Documentation

main()

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

Definition at line 375 of file test_mjcf_load.cpp.

TEST() [1/2]

TEST	(	AttachToFrame	,
		ARobotStandsOnAnObjectsNamedFrame	)

Definition at line 346 of file test_mjcf_load.cpp.

References mj_kdl::RobotSpec::attach_to, KDL::Equal(), mj_kdl_examples::find_asset(), mj_kdl::SceneObject::fixed, mj_kdl::Frame, mj_kdl::get_body_frame(), mj_kdl::init_env(), mj_kdl::SceneObject::mjcf_path, mj_kdl::Env::model, mj_kdl::SceneObject::name, mj_kdl::SceneSpec::objects, mj_kdl::RobotSpec::path, mj_kdl::RobotSpec::pos, and mj_kdl::SceneSpec::robots.

TEST() [2/2]

TEST	(	MjcfPathTest	,
		RelativeModelPathWithRelativeMeshdir	)

Definition at line 285 of file test_mjcf_load.cpp.

References mj_kdl::build_scene(), mj_kdl::destroy_scene(), mj_kdl::RobotSpec::path, and mj_kdl::SceneSpec::robots.

TEST_F() [1/14]

TEST_F	(	JointEdgeCaseTest	,
		ChainRefusesABallJointOnThePath	)

Definition at line 326 of file test_mjcf_load.cpp.

References mj_kdl::init_env(), and mj_kdl::init_robot_from_mjcf().

TEST_F() [2/14]

TEST_F	(	JointEdgeCaseTest	,
		ChainRefusesABodyWithTwoJoints	)

Definition at line 319 of file test_mjcf_load.cpp.

References mj_kdl::init_env(), and mj_kdl::init_robot_from_mjcf().

TEST_F() [3/14]

TEST_F	(	JointEdgeCaseTest	,
		JointSlotRefusesWhatIsNotAScalarJoint	)

Definition at line 339 of file test_mjcf_load.cpp.

References mj_kdl::bind_scene_joint(), and mj_kdl::init_env().

TEST_F() [4/14]

TEST_F	(	JointEdgeCaseTest	,
		PlainHingeChainStillBuilds	)

Definition at line 332 of file test_mjcf_load.cpp.

References mj_kdl::init_env(), and mj_kdl::init_robot_from_mjcf().

TEST_F() [5/14]

TEST_F	(	MjcfGripperTest	,
		AttachToABodyWithAnOffset	)

Definition at line 204 of file test_mjcf_load.cpp.

References mj_kdl::AttachmentSpec::attach_to, mj_kdl::Body, mj_kdl::get_body_frame(), mj_kdl::init_env(), KDL::Frame::Inverse(), mj_kdl::AttachmentSpec::pos, KDL::Vector::x(), KDL::Vector::y(), and KDL::Vector::z().

TEST_F() [6/14]

TEST_F	(	MjcfGripperTest	,
		CamerasAreAddedWhereTheSpecSays	)

Definition at line 224 of file test_mjcf_load.cpp.

References mj_kdl::CameraSpec::body, mj_kdl::CameraSpec::fovy, mj_kdl::init_env(), mj_kdl::CameraSpec::name, mj_kdl::CameraSpec::pos, and mj_kdl::CameraSpec::quat.

TEST_F() [7/14]

TEST_F	(	MjcfGripperTest	,
		ContactExclusionsAreAdded	)

Definition at line 182 of file test_mjcf_load.cpp.

References mj_kdl::build_scene(), mj_kdl::destroy_scene(), and mj_kdl::init_env().

TEST_F() [8/14]

TEST_F	(	MjcfGripperTest	,
		GripperDriverRangeAndCtrlrange	)

Definition at line 152 of file test_mjcf_load.cpp.

References mj_kdl::init_env(), and mj_kdl_examples::kGripperClosed.

TEST_F() [9/14]

TEST_F	(	MjcfGripperTest	,
		JointSlotReadsAGripperJointByName	)

Definition at line 164 of file test_mjcf_load.cpp.

References mj_kdl::bind_scene_joint(), mj_kdl::init_env(), mj_kdl::SceneJointReading::position, and mj_kdl::update().

TEST_F() [10/14]

TEST_F	(	MjcfGripperTest	,
		SitesAreAddedButAnAuthoredSiteWins	)

Definition at line 260 of file test_mjcf_load.cpp.

References mj_kdl::SiteSpec::body, KDL::Equal(), mj_kdl::get_body_frame(), mj_kdl::get_site_frame(), mj_kdl::init_env(), KDL::Frame::Inverse(), mj_kdl::SiteSpec::name, mj_kdl::SiteSpec::pos, mj_kdl::SiteSpec::quat, and KDL::Rotation::RotZ().

TEST_F() [11/14]

TEST_F	(	MjcfGripperTest	,
		TcpChainMatchesThePinchSite	)

Definition at line 135 of file test_mjcf_load.cpp.

References mj_kdl::Robot::chain, KDL::Equal(), mj_kdl::get_site_frame(), mj_kdl_examples::gripper_tool(), mj_kdl_examples::home_q(), mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), KDL::ChainFkSolverPos_recursive::JntToCart(), mj_kdl::Robot::n_joints, and mj_kdl::set_joint_pos().

TEST_F() [12/14]

TEST_F	(	MjcfLoadTest	,
		ChainFkMatchesTheModelFrames	)

Definition at line 61 of file test_mjcf_load.cpp.

References KDL::Equal(), mj_kdl::get_body_frame(), mj_kdl_examples::home_q(), and KDL::ChainFkSolverPos_recursive::JntToCart().

TEST_F() [13/14]

TEST_F	(	MjcfLoadTest	,
		JointLimitsFollowTheModel	)

Definition at line 70 of file test_mjcf_load.cpp.

TEST_F() [14/14]

TEST_F	(	MjcfLoadTest	,
		SaveModelXmlRoundTrips	)

Definition at line 89 of file test_mjcf_load.cpp.

References mj_kdl::save_model_xml().