test_scene_state.cpp File Reference

#include <gtest/gtest.h>
#include "mj_kdl_wrapper/mj_kdl_wrapper.hpp"
#include "example_paths.hpp"
#include <atomic>
#include <chrono>
#include <cstring>
#include <filesystem>
#include <string>
#include <thread>
#include <vector>

Go to the source code of this file.

Classes
class	SceneStateTest

Functions
	TEST_F (SceneStateTest, FreeBodyPoseAndDerivedFrameAgreeAfterAStep)
	TEST_F (SceneStateTest, AFrameFollowsAQposWrittenDirectly)
	TEST_F (SceneStateTest, StepMatchesMjStepBitwise)
	TEST_F (SceneStateTest, StepHonoursAQposWrittenBetweenSteps)
	TEST_F (SceneStateTest, DISABLED_ViewerKeepsUserWrenchesWhileAnotherThreadReads)
	TEST_F (SceneStateTest, BindFreeBodyRejectsFixedUnknownAndDuplicate)
	TEST_F (SceneStateTest, SceneJointTracksQposAndRejectsAFreeJoint)
	TEST_F (SceneStateTest, ASlotAddressSurvivesFurtherBinds)
	TEST_F (SceneStateTest, UpdateReadsThenAppliesRobotsAndSlots)
	TEST_F (SceneStateTest, ApplyClearsAWrenchThatIsNoLongerPushed)
	TEST_F (SceneStateTest, ResetRestoresEverySlot)
int	main (int argc, char *argv[])

Function Documentation

main()

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

Definition at line 308 of file test_scene_state.cpp.

TEST_F() [1/11]

TEST_F	(	SceneStateTest	,
		AFrameFollowsAQposWrittenDirectly	)

Definition at line 114 of file test_scene_state.cpp.

References mj_kdl::bind_scene_free_body(), mj_kdl::get_body_frame(), KDL::Frame::p, mj_kdl::SceneFreeBodySlot::qpos_adr, and KDL::Vector::z().

TEST_F() [2/11]

TEST_F	(	SceneStateTest	,
		ApplyClearsAWrenchThatIsNoLongerPushed	)

Definition at line 258 of file test_scene_state.cpp.

References mj_kdl::bind_scene_wrench(), mj_kdl::SceneWrenchSlot::body_id, mj_kdl::update(), mj_kdl::SceneWrenchCommand::wrench, and KDL::Wrench::Zero().

TEST_F() [3/11]

TEST_F	(	SceneStateTest	,
		ASlotAddressSurvivesFurtherBinds	)

Definition at line 220 of file test_scene_state.cpp.

References mj_kdl::bind_scene_wrench(), and mj_kdl::SceneWrenchSlot::name.

TEST_F() [4/11]

TEST_F	(	SceneStateTest	,
		BindFreeBodyRejectsFixedUnknownAndDuplicate	)

Definition at line 188 of file test_scene_state.cpp.

References mj_kdl::bind_scene_free_body(), mj_kdl::get_log_level(), mj_kdl::NONE, and mj_kdl::set_log_level().

TEST_F() [5/11]

TEST_F	(	SceneStateTest	,
		DISABLED_ViewerKeepsUserWrenchesWhileAnotherThreadReads	)

Definition at line 161 of file test_scene_state.cpp.

References mj_kdl::bind_scene_wrench(), mj_kdl::SceneWrenchSlot::body_id, mj_kdl::get_body_frame(), mj_kdl::open_viewer(), mj_kdl::step(), mj_kdl::update(), mj_kdl::SceneWrenchCommand::wrench, and KDL::Vector::Zero().

TEST_F() [6/11]

TEST_F	(	SceneStateTest	,
		FreeBodyPoseAndDerivedFrameAgreeAfterAStep	)

Definition at line 92 of file test_scene_state.cpp.

References mj_kdl::bind_scene_free_body(), mj_kdl::get_body_frame(), KDL::Frame::p, mj_kdl::SceneFreeBodyReading::pose, mj_kdl::SceneFreeBodySlot::qpos_adr, mj_kdl::SceneFreeBodyReading::seq, mj_kdl::step(), mj_kdl::update(), KDL::Vector::x(), KDL::Vector::y(), and KDL::Vector::z().

TEST_F() [7/11]

TEST_F	(	SceneStateTest	,
		ResetRestoresEverySlot	)

Definition at line 274 of file test_scene_state.cpp.

References mj_kdl::bind_scene_actuator(), mj_kdl::bind_scene_free_body(), mj_kdl::bind_scene_joint(), mj_kdl::bind_scene_wrench(), mj_kdl::SceneWrenchSlot::body_id, mj_kdl::SceneActuatorCommand::command, mj_kdl::SceneActuatorSlot::ctrl_id, KDL::Frame::p, mj_kdl::SceneFreeBodyReading::pose, mj_kdl::SceneJointReading::position, mj_kdl::SceneFreeBodySlot::qpos_adr, mj_kdl::SceneJointSlot::qpos_adr, mj_kdl::reset(), mj_kdl::SceneActuatorCommand::saturated, mj_kdl::SceneFreeBodyReading::seq, mj_kdl::SceneJointReading::seq, mj_kdl::step(), mj_kdl::update(), mj_kdl::SceneWrenchCommand::wrench, KDL::Vector::z(), and KDL::Wrench::Zero().

TEST_F() [8/11]

TEST_F	(	SceneStateTest	,
		SceneJointTracksQposAndRejectsAFreeJoint	)

Definition at line 201 of file test_scene_state.cpp.

References mj_kdl::bind_scene_joint(), mj_kdl::SceneJointSlot::dof_adr, mj_kdl::get_log_level(), mj_kdl::NONE, mj_kdl::SceneJointReading::position, mj_kdl::set_joint_pos(), mj_kdl::set_log_level(), mj_kdl::update(), and mj_kdl::SceneJointReading::velocity.

TEST_F() [9/11]

TEST_F	(	SceneStateTest	,
		StepHonoursAQposWrittenBetweenSteps	)

Definition at line 140 of file test_scene_state.cpp.

References mj_kdl::bind_scene_free_body(), mj_kdl::get_body_frame(), KDL::Frame::p, mj_kdl::SceneFreeBodySlot::qpos_adr, mj_kdl::step(), and KDL::Vector::z().

TEST_F() [10/11]

TEST_F	(	SceneStateTest	,
		StepMatchesMjStepBitwise	)

Definition at line 127 of file test_scene_state.cpp.

References mj_kdl::step().

TEST_F() [11/11]

TEST_F	(	SceneStateTest	,
		UpdateReadsThenAppliesRobotsAndSlots	)

Definition at line 236 of file test_scene_state.cpp.

References mj_kdl::bind_scene_wrench(), mj_kdl::SceneWrenchSlot::body_id, mj_kdl::set_control_mode(), mj_kdl::step(), mj_kdl::TORQUE, mj_kdl::update(), mj_kdl::SceneWrenchCommand::wrench, and KDL::Vector::Zero().