test_mjcf_pick.cpp File Reference

#include "mj_kdl_wrapper/mj_kdl_wrapper.hpp"
#include <gtest/gtest.h>
#include <kdl/chaindynparam.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/chainiksolverpos_nr_jl.hpp>
#include <kdl/chainiksolvervel_pinv.hpp>
#include <kdl/chainiksolvervel_wdls.hpp>
#include <algorithm>
#include <cmath>
#include <filesystem>
#include <memory>
#include <string>
#include <vector>

Go to the source code of this file.

Classes
class	MjcfPickTest

Functions
	TEST_F (MjcfPickTest, KDLChain)
	TEST_F (MjcfPickTest, IKConvergence)
	TEST_F (MjcfPickTest, CubeLifted)
int	main (int argc, char *argv[])

Function Documentation

main()

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

Definition at line 379 of file test_mjcf_pick.cpp.

TEST_F() [1/3]

TEST_F	(	MjcfPickTest	,
		CubeLifted
	)

Definition at line 352 of file test_mjcf_pick.cpp.

TEST_F() [2/3]

TEST_F	(	MjcfPickTest	,
		IKConvergence
	)

Definition at line 321 of file test_mjcf_pick.cpp.

TEST_F() [3/3]

TEST_F	(	MjcfPickTest	,
		KDLChain
	)

Definition at line 300 of file test_mjcf_pick.cpp.

References mj_kdl::Robot::chain, mj_kdl::cleanup(), mj_kdl::init_robot_from_mjcf(), and mj_kdl::ToolFrameSpec::tool_body.