test_mjcf_pick.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 <algorithm>
#include <cmath>
#include <filesystem>
#include <string>
#include <vector>

Go to the source code of this file.

Classes
class	MjcfPickTest

Functions
	TEST_F (MjcfPickTest, TcpLiesBeyondTheWrist)
	TEST_F (MjcfPickTest, IkStaysOnTheSeedBranch)
	TEST_F (MjcfPickTest, CubeLifted)
int	main (int argc, char *argv[])

Function Documentation

main()

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

Definition at line 117 of file test_mjcf_pick.cpp.

TEST_F() [1/3]

TEST_F	(	MjcfPickTest	,
		CubeLifted	)

Definition at line 87 of file test_mjcf_pick.cpp.

References mj_kdl::bind_scene_actuator(), mj_kdl::bind_scene_free_body(), mj_kdl_examples::kGripperClosed, mj_kdl_examples::kKd, mj_kdl_examples::kKp, KDL::Frame::p, mj_kdl_examples::pd_gravity(), mj_kdl_examples::pick_place_phases(), mj_kdl::SceneFreeBodyReading::pose, mj_kdl_examples::prime_gravity(), mj_kdl::reset(), mj_kdl_examples::run_phases(), mj_kdl::set_control_mode(), mj_kdl::set_joint_pos(), mj_kdl::TORQUE, mj_kdl::update(), and KDL::Vector::z().

TEST_F() [2/3]

TEST_F	(	MjcfPickTest	,
		IkStaysOnTheSeedBranch	)

Definition at line 74 of file test_mjcf_pick.cpp.

TEST_F() [3/3]

TEST_F	(	MjcfPickTest	,
		TcpLiesBeyondTheWrist	)

Definition at line 57 of file test_mjcf_pick.cpp.

References mj_kdl::Robot::chain, mj_kdl::cleanup(), KDL::Chain::getNrOfJoints(), mj_kdl::init_robot_from_mjcf(), KDL::ChainFkSolverPos_recursive::JntToCart(), and KDL::Frame::p.