test_table_scene.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 <filesystem>
#include <memory>
#include <string>
#include <vector>

Go to the source code of this file.

Classes
class	TableSceneTest

Functions
	TEST (SceneObjectTransform, PathBackedObjectAppliesQuat)
	TEST (SceneObjectPrefix, NamesStayAsAuthoredUnlessAPrefixIsSet)
	TEST_F (TableSceneTest, GravityCompDrift)
	TEST_F (TableSceneTest, EnvAddRemoveReinitsRobot)
int	main (int argc, char *argv[])

Function Documentation

main()

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

Definition at line 234 of file test_table_scene.cpp.

TEST() [1/2]

TEST	(	SceneObjectPrefix	,
		NamesStayAsAuthoredUnlessAPrefixIsSet	)

Definition at line 94 of file test_table_scene.cpp.

References mj_kdl::cleanup(), mj_kdl::Status::error, mj_kdl_examples::find_asset(), mj_kdl::get_site_frame(), mj_kdl::init_env(), and mj_kdl::SceneSpec::objects.

TEST() [2/2]

TEST	(	SceneObjectTransform	,
		PathBackedObjectAppliesQuat	)

Definition at line 71 of file test_table_scene.cpp.

References mj_kdl_examples::find_asset(), mj_kdl::get_site_frame(), mj_kdl::init_env(), KDL::Frame::M, mj_kdl::SceneSpec::objects, mj_kdl::SceneObject::quat, KDL::Vector::x(), KDL::Vector::y(), and KDL::Vector::z().

TEST_F() [1/2]

TEST_F	(	TableSceneTest	,
		EnvAddRemoveReinitsRobot	)

Definition at line 186 of file test_table_scene.cpp.

References mj_kdl::bind_scene_free_body(), mj_kdl::BOX, mj_kdl::get_body_frame(), mj_kdl::SceneFreeBodySlot::qpos_adr, mj_kdl::scene_add_object(), mj_kdl::scene_remove_object(), mj_kdl::SceneFreeBodyReading::seq, and mj_kdl::update().

TEST_F() [2/2]

TEST_F	(	TableSceneTest	,
		GravityCompDrift	)

Definition at line 169 of file test_table_scene.cpp.

References KDL::ChainFkSolverPos_recursive::JntToCart(), 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().