test_mjcf_trq_ctrl.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>

Go to the source code of this file.

Classes
class	MjcfTrqCtrlTest

Functions
	TEST_F (MjcfTrqCtrlTest, GravityIncludesTheGripperMass)
	TEST_F (MjcfTrqCtrlTest, ImpedanceDrift)
	TEST_F (MjcfTrqCtrlTest, TrqMsrReadsQfrcActuator)
int	main (int argc, char *argv[])

Function Documentation

main()

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

Definition at line 117 of file test_mjcf_trq_ctrl.cpp.

TEST_F() [1/3]

TEST_F	(	MjcfTrqCtrlTest	,
		GravityIncludesTheGripperMass	)

Definition at line 71 of file test_mjcf_trq_ctrl.cpp.

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

TEST_F() [2/3]

TEST_F	(	MjcfTrqCtrlTest	,
		ImpedanceDrift	)

Definition at line 83 of file test_mjcf_trq_ctrl.cpp.

References KDL::ChainFkSolverPos_recursive::JntToCart(), mj_kdl_examples::kKd, mj_kdl_examples::kKp, KDL::Frame::p, mj_kdl_examples::pd_gravity(), mj_kdl_examples::prime_gravity(), mj_kdl::set_control_mode(), mj_kdl::step(), mj_kdl_examples::tcp_frame(), mj_kdl::TORQUE, and mj_kdl::update().

TEST_F() [3/3]

TEST_F	(	MjcfTrqCtrlTest	,
		TrqMsrReadsQfrcActuator	)

Definition at line 101 of file test_mjcf_trq_ctrl.cpp.

References mj_kdl::set_control_mode(), mj_kdl::step(), mj_kdl::TORQUE, and mj_kdl::update().