diff --git a/CartesianAccelerationTask_8hpp_source.html b/CartesianAccelerationTask_8hpp_source.html index 5b7fcc4e..35814365 100644 --- a/CartesianAccelerationTask_8hpp_source.html +++ b/CartesianAccelerationTask_8hpp_source.html @@ -68,7 +68,7 @@
7namespace wbc{
8
9base::Vector6d operator+(base::Vector6d a, base::Acceleration b);
-
10base::Vector6d operator-(base::Vector6d a, base::Acceleration b);
+
10base::Vector6d operator-(base::Vector6d a, base::Acceleration b);
11
15class CartesianAccelerationTask : public CartesianTask{
@@ -100,7 +100,7 @@
wbc::CartesianAccelerationTaskPtr
std::shared_ptr< CartesianAccelerationTask > CartesianAccelerationTaskPtr
Definition CartesianAccelerationTask.hpp:33
wbc::RobotModelPtr
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:205
wbc::operator+
std::vector< std::string > operator+(std::vector< std::string > a, std::vector< std::string > b)
Definition RobotModel.cpp:10
-
wbc::operator-
base::Vector6d operator-(base::Vector6d a, base::Acceleration b)
Definition CartesianAccelerationTask.cpp:13
+
wbc::operator-
base::Twist operator-(const base::Pose &a, const base::Pose &b)
Definition test_robot_model.cpp:45
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#include "QPSwiftSolver.hpp"
-#include <core/QuadraticProgram.hpp>
+#include <wbc/core/QuadraticProgram.hpp>
#include <base-logging/Logging.hpp>
#include <iostream>
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 ▼ src
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 ► robot_models
 ► scenes
 ► solvers
 ► tasks
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+
Here is a list of all macros with links to the files they belong to:
+ +

- b -

+
+ +
+Generated by doxygen 1.10.0 +
+ + diff --git a/globals_func.html b/globals_func.html index 6dc716ee..0e3208c8 100644 --- a/globals_func.html +++ b/globals_func.html @@ -47,9 +47,40 @@
-
Here is a list of all functions with links to the files they belong to:
diff --git a/menudata.js b/menudata.js index feb01899..d298d60b 100644 --- a/menudata.js +++ b/menudata.js @@ -34,6 +34,7 @@ var menudata={children:[ {text:"f",url:"namespacemembers.html#index_f"}, {text:"j",url:"namespacemembers.html#index_j"}, {text:"l",url:"namespacemembers.html#index_l"}, +{text:"m",url:"namespacemembers.html#index_m"}, {text:"n",url:"namespacemembers.html#index_n"}, {text:"o",url:"namespacemembers.html#index_o"}, {text:"p",url:"namespacemembers.html#index_p"}, @@ -136,7 +137,24 @@ var menudata={children:[ {text:"Files",url:"files.html",children:[ {text:"File List",url:"files.html"}, {text:"File Members",url:"globals.html",children:[ -{text:"All",url:"globals.html"}, -{text:"Functions",url:"globals_func.html"}, +{text:"All",url:"globals.html",children:[ +{text:"b",url:"globals.html#index_b"}, +{text:"c",url:"globals.html#index_c"}, +{text:"i",url:"globals.html#index_i"}, +{text:"j",url:"globals.html#index_j"}, +{text:"m",url:"globals.html#index_m"}, +{text:"n",url:"globals.html#index_n"}, +{text:"p",url:"globals.html#index_p"}, +{text:"r",url:"globals.html#index_r"}, +{text:"t",url:"globals.html#index_t"}]}, +{text:"Functions",url:"globals_func.html",children:[ +{text:"b",url:"globals_func.html#index_b"}, +{text:"c",url:"globals_func.html#index_c"}, +{text:"j",url:"globals_func.html#index_j"}, +{text:"m",url:"globals_func.html#index_m"}, +{text:"p",url:"globals_func.html#index_p"}, +{text:"r",url:"globals_func.html#index_r"}]}, {text:"Enumerations",url:"globals_enum.html"}, -{text:"Enumerator",url:"globals_eval.html"}]}]}]} +{text:"Enumerator",url:"globals_eval.html"}, +{text:"Macros",url:"globals_defs.html",children:[ +{text:"b",url:"globals_defs.html#index_b"}]}]}]}]} diff --git a/namespacemembers.html b/namespacemembers.html index 44f5bab8..f7d60c03 100644 --- a/namespacemembers.html +++ b/namespacemembers.html @@ -92,6 +92,12 @@

- l -

+

- m -

    +
  • makeRandomFloatingBaseState() : wbc
    • +
  • makeRandomJointState() : wbc
    • +
+ +

- n -

@@ -99,7 +105,7 @@

- n -

    - o -

    @@ -107,6 +113,7 @@

    - o -

      - p -

      @@ -139,6 +146,11 @@

      - s -

        - t -

        • TaskPtr : wbc
        • TaskType : wbc
          • +
        • testBodyJacobian() : wbc
          • +
        • testCoMJacobian() : wbc
          • +
        • testDynamics() : wbc
          • +
        • testFK() : wbc
          • +
        • testSpaceJacobian() : wbc
        • toRigidBodyState() : base::samples
        diff --git a/namespacemembers_func.html b/namespacemembers_func.html index 9411f1eb..d23bb28e 100644 --- a/namespacemembers_func.html +++ b/namespacemembers_func.html @@ -50,11 +50,19 @@
        Here is a list of all namespace functions with links to the namespace documentation for each function:
        • createT() : wbc
        • fromRigidBodyState() : base::samples
          • +
        • makeRandomFloatingBaseState() : wbc
          • +
        • makeRandomJointState() : wbc
        • operator+() : wbc
          • -
        • operator-() : base, wbc
          • +
        • operator-() : base, wbc
          • +
        • printRbs() : wbc
        • PYTHAG() : wbc
        • SIGN() : wbc
        • svd_eigen_decomposition() : wbc
          • +
        • testBodyJacobian() : wbc
          • +
        • testCoMJacobian() : wbc
          • +
        • testDynamics() : wbc
          • +
        • testFK() : wbc
          • +
        • testSpaceJacobian() : wbc
        • toRigidBodyState() : base::samples
        diff --git a/namespacewbc.html b/namespacewbc.html index ec97d458..cd06027d 100644 --- a/namespacewbc.html +++ b/namespacewbc.html @@ -264,6 +264,32 @@ template<typename T , typename RobotModelPtr , typename QPSolverPtr > Scene * createT (RobotModelPtr robot_model, QPSolverPtr solver, const double dt)   +void printRbs (base::samples::RigidBodyStateSE3 rbs) +  +base::samples::Joints makeRandomJointState (vector< string > joint_names) +  +base::samples::RigidBodyStateSE3 makeRandomFloatingBaseState () +  +base::Twist operator- (const base::Pose &a, const base::Pose &b) +  +void testFK (RobotModelPtr robot_model, const string &tip_frame, bool verbose) +  +void testSpaceJacobian (RobotModelPtr robot_model, const string &tip_frame, bool verbose) +  +void testBodyJacobian (RobotModelPtr robot_model, const string &tip_frame, bool verbose) +  +void testCoMJacobian (RobotModelPtr robot_model, bool verbose) +  +void testDynamics (RobotModelPtr robot_model, bool verbose) +  +base::samples::Joints makeRandomJointState (std::vector< std::string > joint_names) +  +void testFK (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false) +  +void testSpaceJacobian (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false) +  +void testBodyJacobian (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false) +  base::Vector6d operator+ (base::Vector6d a, base::Acceleration b)   base::Vector6d operator- (base::Vector6d a, base::Acceleration b) @@ -604,6 +630,57 @@

        + + + +

        ◆ makeRandomFloatingBaseState()

        + +
        +
        + + + + + + + +
        base::samples::RigidBodyStateSE3 wbc::makeRandomFloatingBaseState ()
        +
        + +
        +
        + +

        ◆ makeRandomJointState() [1/2]

        + +
        +
        + + + + + + + +
        base::samples::Joints wbc::makeRandomJointState (std::vector< std::string > joint_names)
        +
        + +
        +
        + +

        ◆ makeRandomJointState() [2/2]

        + +
        +
        + + + + + + + +
        base::samples::Joints wbc::makeRandomJointState (vector< string > joint_names)
        +
        +
        @@ -649,7 +726,7 @@

        -

        ◆ operator-()

        +

        ◆ operator-() [1/2]

        @@ -667,6 +744,44 @@

        +

        +
        + +

        ◆ operator-() [2/2]

        + +
        +
        + + + + + + + + + + + +
        base::Twist wbc::operator- (const base::Pose & a,
        const base::Pose & b )
        +
        + +
        +
        + +

        ◆ printRbs()

        + +
        +
        + + + + + + + +
        void wbc::printRbs (base::samples::RigidBodyStateSE3 rbs)
        +
        +
        @@ -771,6 +886,204 @@

        + + + +

        ◆ testBodyJacobian() [1/2]

        + +
        +
        + + + + + + + + + + + + + + + + +
        void wbc::testBodyJacobian (RobotModelPtr robot_model,
        const std::string & tip_frame,
        bool verbose = false )
        +
        + +
        +
        + +

        ◆ testBodyJacobian() [2/2]

        + +
        +
        + + + + + + + + + + + + + + + + +
        void wbc::testBodyJacobian (RobotModelPtr robot_model,
        const string & tip_frame,
        bool verbose )
        +
        + +
        +
        + +

        ◆ testCoMJacobian()

        + +
        +
        + + + + + + + + + + + +
        void wbc::testCoMJacobian (RobotModelPtr robot_model,
        bool verbose )
        +
        + +
        +
        + +

        ◆ testDynamics()

        + +
        +
        + + + + + + + + + + + +
        void wbc::testDynamics (RobotModelPtr robot_model,
        bool verbose )
        +
        + +
        +
        + +

        ◆ testFK() [1/2]

        + +
        +
        + + + + + + + + + + + + + + + + +
        void wbc::testFK (RobotModelPtr robot_model,
        const std::string & tip_frame,
        bool verbose = false )
        +
        + +
        +
        + +

        ◆ testFK() [2/2]

        + +
        +
        + + + + + + + + + + + + + + + + +
        void wbc::testFK (RobotModelPtr robot_model,
        const string & tip_frame,
        bool verbose )
        +
        + +
        +
        + +

        ◆ testSpaceJacobian() [1/2]

        + +
        +
        + + + + + + + + + + + + + + + + +
        void wbc::testSpaceJacobian (RobotModelPtr robot_model,
        const std::string & tip_frame,
        bool verbose = false )
        +
        + +
        +
        + +

        ◆ testSpaceJacobian() [2/2]

        + +
        +
        + + + + + + + + + + + + + + + + +
        void wbc::testSpaceJacobian (RobotModelPtr robot_model,
        const string & tip_frame,
        bool verbose )
        +
        +
        diff --git a/test__acceleration__scene_8cpp.html b/test__acceleration__scene_8cpp.html new file mode 100644 index 00000000..636390d3 --- /dev/null +++ b/test__acceleration__scene_8cpp.html @@ -0,0 +1,131 @@ + + + + + + + +wbc: src/scenes/acceleration/test/test_acceleration_scene.cpp File Reference + + + + + + + + + +
        +
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        wbc +
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        +Macros | +Functions
        +
        test_acceleration_scene.cpp File Reference
        +
        +
        +
        #include <boost/test/unit_test.hpp>
        +#include "robot_models/rbdl/RobotModelRBDL.hpp"
        +#include "scenes/acceleration/AccelerationScene.hpp"
        +#include "solvers/qpoases/QPOasesSolver.hpp"
        +
        + + + + + +

        +Macros

        #define BOOST_TEST_DYN_LINK
         
        #define BOOST_TEST_MAIN
         
        + + + +

        +Functions

         BOOST_AUTO_TEST_CASE (simple_test)
         
        +

        Macro Definition Documentation

        + +

        ◆ BOOST_TEST_DYN_LINK

        + +
        +
        + + + + +
        #define BOOST_TEST_DYN_LINK
        +
        + +
        +
        + +

        ◆ BOOST_TEST_MAIN

        + +
        +
        + + + + +
        #define BOOST_TEST_MAIN
        +
        + +
        +
        +

        Function Documentation

        + +

        ◆ BOOST_AUTO_TEST_CASE()

        + +
        +
        + + + + + + + +
        BOOST_AUTO_TEST_CASE (simple_test )
        +
        +

        Check if the WBC scene computes the correct result, i.e., if the reference spatial velocity matches the solver output, back-projected to Cartesian space

        + +
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        +
        + +
        +Generated by doxygen 1.10.0 +
        + + diff --git a/test__acceleration__scene__reduced__tsid_8cpp.html b/test__acceleration__scene__reduced__tsid_8cpp.html new file mode 100644 index 00000000..add8acaa --- /dev/null +++ b/test__acceleration__scene__reduced__tsid_8cpp.html @@ -0,0 +1,131 @@ + + + + + + + +wbc: src/scenes/acceleration_reduced_tsid/test/test_acceleration_scene_reduced_tsid.cpp File Reference + + + + + + + + + +
        +
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        +Macros | +Functions
        +
        test_acceleration_scene_reduced_tsid.cpp File Reference
        +
        +
        +
        #include <boost/test/unit_test.hpp>
        +#include "robot_models/rbdl/RobotModelRBDL.hpp"
        +#include "scenes/acceleration_reduced_tsid/AccelerationSceneReducedTSID.hpp"
        +#include "solvers/qpoases/QPOasesSolver.hpp"
        +
        + + + + + +

        +Macros

        #define BOOST_TEST_DYN_LINK
         
        #define BOOST_TEST_MAIN
         
        + + + +

        +Functions

         BOOST_AUTO_TEST_CASE (simple_test)
         
        +

        Macro Definition Documentation

        + +

        ◆ BOOST_TEST_DYN_LINK

        + +
        +
        + + + + +
        #define BOOST_TEST_DYN_LINK
        +
        + +
        +
        + +

        ◆ BOOST_TEST_MAIN

        + +
        +
        + + + + +
        #define BOOST_TEST_MAIN
        +
        + +
        +
        +

        Function Documentation

        + +

        ◆ BOOST_AUTO_TEST_CASE()

        + +
        +
        + + + + + + + +
        BOOST_AUTO_TEST_CASE (simple_test )
        +
        +

        Check if the WBC scene computes the correct result, i.e., if the reference spatial acceleration matches the solver output, back-projected to Cartesian space

        + +
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        +Generated by doxygen 1.10.0 +
        + + diff --git a/test__acceleration__scene__tsid_8cpp.html b/test__acceleration__scene__tsid_8cpp.html new file mode 100644 index 00000000..eb015aa3 --- /dev/null +++ b/test__acceleration__scene__tsid_8cpp.html @@ -0,0 +1,131 @@ + + + + + + + +wbc: src/scenes/acceleration_tsid/test/test_acceleration_scene_tsid.cpp File Reference + + + + + + + + + +
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        test_acceleration_scene_tsid.cpp File Reference
        +
        +
        +
        #include <boost/test/unit_test.hpp>
        +#include "robot_models/rbdl/RobotModelRBDL.hpp"
        +#include "scenes/acceleration_tsid/AccelerationSceneTSID.hpp"
        +#include "solvers/qpoases/QPOasesSolver.hpp"
        +
        + + + + + +

        +Macros

        #define BOOST_TEST_DYN_LINK
         
        #define BOOST_TEST_MAIN
         
        + + + +

        +Functions

         BOOST_AUTO_TEST_CASE (simple_test)
         
        +

        Macro Definition Documentation

        + +

        ◆ BOOST_TEST_DYN_LINK

        + +
        +
        + + + + +
        #define BOOST_TEST_DYN_LINK
        +
        + +
        +
        + +

        ◆ BOOST_TEST_MAIN

        + +
        +
        + + + + +
        #define BOOST_TEST_MAIN
        +
        + +
        +
        +

        Function Documentation

        + +

        ◆ BOOST_AUTO_TEST_CASE()

        + +
        +
        + + + + + + + +
        BOOST_AUTO_TEST_CASE (simple_test )
        +
        +

        Check if the WBC scene computes the correct result, i.e., if the reference spatial acceleration matches the solver output, back-projected to Cartesian space

        + +
        +
        +
        + +
        +Generated by doxygen 1.10.0 +
        + + diff --git a/test__core_8cpp.html b/test__core_8cpp.html new file mode 100644 index 00000000..e2772961 --- /dev/null +++ b/test__core_8cpp.html @@ -0,0 +1,189 @@ + + + + + + + +wbc: src/core/test/test_core.cpp File Reference + + + + + + + + + +
        +
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        wbc +
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        test_core.cpp File Reference
        +
        +
        +
        #include <boost/test/unit_test.hpp>
        +#include <core/TaskConfig.hpp>
        +#include <core/PluginLoader.hpp>
        +#include <core/RobotModel.hpp>
        +#include <core/QPSolver.hpp>
        +#include <core/Scene.hpp>
        +
        + + + + + +

        +Macros

        #define BOOST_TEST_DYN_LINK
         
        #define BOOST_TEST_MAIN
         
        + + + + + + + + + +

        +Functions

         BOOST_AUTO_TEST_CASE (task_config)
         
         BOOST_AUTO_TEST_CASE (robot_model_factory)
         
         BOOST_AUTO_TEST_CASE (qp_solver_factory)
         
         BOOST_AUTO_TEST_CASE (scene_factory)
         
        +

        Macro Definition Documentation

        + +

        ◆ BOOST_TEST_DYN_LINK

        + +
        +
        + + + + +
        #define BOOST_TEST_DYN_LINK
        +
        + +
        +
        + +

        ◆ BOOST_TEST_MAIN

        + +
        +
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        #define BOOST_TEST_MAIN
        +
        + +
        +
        +

        Function Documentation

        + +

        ◆ BOOST_AUTO_TEST_CASE() [1/4]

        + +
        +
        + + + + + + + +
        BOOST_AUTO_TEST_CASE (qp_solver_factory )
        +
        + +
        +
        + +

        ◆ BOOST_AUTO_TEST_CASE() [2/4]

        + +
        +
        + + + + + + + +
        BOOST_AUTO_TEST_CASE (robot_model_factory )
        +
        + +
        +
        + +

        ◆ BOOST_AUTO_TEST_CASE() [3/4]

        + +
        +
        + + + + + + + +
        BOOST_AUTO_TEST_CASE (scene_factory )
        +
        + +
        +
        + +

        ◆ BOOST_AUTO_TEST_CASE() [4/4]

        + +
        +
        + + + + + + + +
        BOOST_AUTO_TEST_CASE (task_config )
        +
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        + + diff --git a/test__eiquadprog__solver_8cpp.html b/test__eiquadprog__solver_8cpp.html new file mode 100644 index 00000000..c6c8c5a0 --- /dev/null +++ b/test__eiquadprog__solver_8cpp.html @@ -0,0 +1,169 @@ + + + + + + + +wbc: src/solvers/eiquadprog/test/test_eiquadprog_solver.cpp File Reference + + + + + + + + + +
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        +Macros | +Functions
        +
        test_eiquadprog_solver.cpp File Reference
        +
        +
        +
        #include <boost/test/unit_test.hpp>
        +#include <iostream>
        +#include <sys/time.h>
        +#include <wbc/core/QuadraticProgram.hpp>
        +#include "../EiquadprogSolver.hpp"
        +
        + + + + + +

        +Macros

        #define BOOST_TEST_DYN_LINK
         
        #define BOOST_TEST_MAIN
         
        + + + + + + + +

        +Functions

         BOOST_AUTO_TEST_CASE (solver_qp_oases_without_constraints)
         
         BOOST_AUTO_TEST_CASE (solver_qp_oases_with_equality_constraints)
         
         BOOST_AUTO_TEST_CASE (solver_eiquadprog_bounded)
         
        +

        Macro Definition Documentation

        + +

        ◆ BOOST_TEST_DYN_LINK

        + +
        +
        + + + + +
        #define BOOST_TEST_DYN_LINK
        +
        + +
        +
        + +

        ◆ BOOST_TEST_MAIN

        + +
        +
        + + + + +
        #define BOOST_TEST_MAIN
        +
        + +
        +
        +

        Function Documentation

        + +

        ◆ BOOST_AUTO_TEST_CASE() [1/3]

        + +
        +
        + + + + + + + +
        BOOST_AUTO_TEST_CASE (solver_eiquadprog_bounded )
        +
        + +
        +
        + +

        ◆ BOOST_AUTO_TEST_CASE() [2/3]

        + +
        +
        + + + + + + + +
        BOOST_AUTO_TEST_CASE (solver_qp_oases_with_equality_constraints )
        +
        + +
        +
        + +

        ◆ BOOST_AUTO_TEST_CASE() [3/3]

        + +
        +
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        BOOST_AUTO_TEST_CASE (solver_qp_oases_without_constraints )
        +
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        + + diff --git a/test__hls__solver_8cpp.html b/test__hls__solver_8cpp.html new file mode 100644 index 00000000..17dd3cbe --- /dev/null +++ b/test__hls__solver_8cpp.html @@ -0,0 +1,131 @@ + + + + + + + +wbc: src/solvers/hls/test/test_hls_solver.cpp File Reference + + + + + + + + + +
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        test_hls_solver.cpp File Reference
        +
        +
        +
        #include <boost/test/unit_test.hpp>
        +#include "solvers/hls/HierarchicalLSSolver.hpp"
        +#include "core/QuadraticProgram.hpp"
        +#include <iostream>
        +#include <sys/time.h>
        +
        + + + + + +

        +Macros

        #define BOOST_TEST_DYN_LINK
         
        #define BOOST_TEST_MAIN
         
        + + + +

        +Functions

         BOOST_AUTO_TEST_CASE (solver_hls)
         
        +

        Macro Definition Documentation

        + +

        ◆ BOOST_TEST_DYN_LINK

        + +
        +
        + + + + +
        #define BOOST_TEST_DYN_LINK
        +
        + +
        +
        + +

        ◆ BOOST_TEST_MAIN

        + +
        +
        + + + + +
        #define BOOST_TEST_MAIN
        +
        + +
        +
        +

        Function Documentation

        + +

        ◆ BOOST_AUTO_TEST_CASE()

        + +
        +
        + + + + + + + +
        BOOST_AUTO_TEST_CASE (solver_hls )
        +
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        + + diff --git a/test__model__consistency_8cpp.html b/test__model__consistency_8cpp.html new file mode 100644 index 00000000..2908878b --- /dev/null +++ b/test__model__consistency_8cpp.html @@ -0,0 +1,349 @@ + + + + + + + +wbc: src/robot_models/test/test_model_consistency.cpp File Reference + + + + + + + + + +
        +
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        +
        wbc +
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        +
        test_model_consistency.cpp File Reference
        +
        +
        +
        #include <boost/test/unit_test.hpp>
        +#include "robot_models/hyrodyn/RobotModelHyrodyn.hpp"
        +#include "robot_models/rbdl/RobotModelRBDL.hpp"
        +#include "robot_models/kdl/RobotModelKDL.hpp"
        +#include "robot_models/pinocchio/RobotModelPinocchio.hpp"
        +#include "test_robot_model.hpp"
        +
        + + + + + +

        +Macros

        #define BOOST_TEST_DYN_LINK
         
        #define BOOST_TEST_MAIN
         
        + + + + + + + + + + + + + + + + + +

        +Functions

        void compareRbs (base::samples::RigidBodyStateSE3 rbs_a, base::samples::RigidBodyStateSE3 rbs_b, double default_accuracy=1e-3)
         
        uint jointIdx (vector< string > joint_names, string joint_name)
         
        void compareJacobian (base::MatrixXd mat_a, base::MatrixXd mat_b, vector< string > joint_names_a, vector< string > joint_names_b, bool floating_base, double default_accuracy=1e-3)
         
        void compareMassInertiaMat (base::MatrixXd mat_a, base::MatrixXd mat_b, vector< string > joint_names_a, vector< string > joint_names_b, double default_accuracy=1e-3)
         
        void compareVect (base::VectorXd vect_a, base::VectorXd vect_b, vector< string > joint_names_a, vector< string > joint_names_b, double default_accuracy=1e-3)
         
        void compareRobotModels (RobotModelConfig cfg, string tip_frame, bool verbose=false)
         
         BOOST_AUTO_TEST_CASE (fixed_base)
         
         BOOST_AUTO_TEST_CASE (floating_base)
         
        +

        Macro Definition Documentation

        + +

        ◆ BOOST_TEST_DYN_LINK

        + +
        +
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        #define BOOST_TEST_DYN_LINK
        +
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        ◆ BOOST_TEST_MAIN

        + +
        +
        + + + + +
        #define BOOST_TEST_MAIN
        +
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        +
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        Function Documentation

        + +

        ◆ BOOST_AUTO_TEST_CASE() [1/2]

        + +
        +
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        BOOST_AUTO_TEST_CASE (fixed_base )
        +
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        +
        + +

        ◆ BOOST_AUTO_TEST_CASE() [2/2]

        + +
        +
        + + + + + + + +
        BOOST_AUTO_TEST_CASE (floating_base )
        +
        + +
        +
        + +

        ◆ compareJacobian()

        + +
        +
        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
        void compareJacobian (base::MatrixXd mat_a,
        base::MatrixXd mat_b,
        vector< string > joint_names_a,
        vector< string > joint_names_b,
        bool floating_base,
        double default_accuracy = 1e-3 )
        +
        + +
        +
        + +

        ◆ compareMassInertiaMat()

        + +
        +
        + + + + + + + + + + + + + + + + + + + + + + + + + + +
        void compareMassInertiaMat (base::MatrixXd mat_a,
        base::MatrixXd mat_b,
        vector< string > joint_names_a,
        vector< string > joint_names_b,
        double default_accuracy = 1e-3 )
        +
        + +
        +
        + +

        ◆ compareRbs()

        + +
        +
        + + + + + + + + + + + + + + + + +
        void compareRbs (base::samples::RigidBodyStateSE3 rbs_a,
        base::samples::RigidBodyStateSE3 rbs_b,
        double default_accuracy = 1e-3 )
        +
        + +
        +
        + +

        ◆ compareRobotModels()

        + +
        +
        + + + + + + + + + + + + + + + + +
        void compareRobotModels (RobotModelConfig cfg,
        string tip_frame,
        bool verbose = false )
        +
        + +
        +
        + +

        ◆ compareVect()

        + +
        +
        + + + + + + + + + + + + + + + + + + + + + + + + + + +
        void compareVect (base::VectorXd vect_a,
        base::VectorXd vect_b,
        vector< string > joint_names_a,
        vector< string > joint_names_b,
        double default_accuracy = 1e-3 )
        +
        + +
        +
        + +

        ◆ jointIdx()

        + +
        +
        + + + + + + + + + + + +
        uint jointIdx (vector< string > joint_names,
        string joint_name )
        +
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        +
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        + + diff --git a/test__pid__controllers_8cpp.html b/test__pid__controllers_8cpp.html new file mode 100644 index 00000000..d2df79a3 --- /dev/null +++ b/test__pid__controllers_8cpp.html @@ -0,0 +1,149 @@ + + + + + + + +wbc: src/controllers/test/test_pid_controllers.cpp File Reference + + + + + + + + + +
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        test_pid_controllers.cpp File Reference
        +
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        #include <boost/test/unit_test.hpp>
        +#include <iostream>
        +#include "../JointTorquePIDController.hpp"
        +#include <base/samples//RigidBodyStateSE3.hpp>
        +
        + + + + + +

        +Macros

        #define BOOST_TEST_DYN_LINK
         
        #define BOOST_TEST_MAIN
         
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         BOOST_AUTO_TEST_CASE (configuration_test)
         
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        Macro Definition Documentation

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        ◆ BOOST_TEST_MAIN

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        ◆ BOOST_AUTO_TEST_CASE() [1/2]

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        BOOST_AUTO_TEST_CASE (configuration_test )
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        ◆ BOOST_AUTO_TEST_CASE() [2/2]

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        BOOST_AUTO_TEST_CASE (joint_torque_controller_test )
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        #include <boost/test/unit_test.hpp>
        +#include <fstream>
        +#include <iostream>
        +#include "../CartesianPosPDController.hpp"
        +#include "../JointPosPDController.hpp"
        +#include "../ControllerTools.hpp"
        +#include <base/samples/RigidBodyStateSE3.hpp>
        +
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        #define BOOST_TEST_DYN_LINK
         
        #define BOOST_TEST_MAIN
         
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         BOOST_AUTO_TEST_CASE (configuration_test)
         
         BOOST_AUTO_TEST_CASE (cart_pos_pd_controller)
         
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        BOOST_AUTO_TEST_CASE (cart_pos_pd_controller )
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        ◆ BOOST_AUTO_TEST_CASE() [2/3]

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        BOOST_AUTO_TEST_CASE (configuration_test )
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        ◆ BOOST_AUTO_TEST_CASE() [3/3]

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        test_pot_field_controllers.cpp File Reference
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        #include <boost/test/unit_test.hpp>
        +#include <fstream>
        +#include <iostream>
        +#include "../CartesianPotentialFieldsController.hpp"
        +#include "../RadialPotentialField.hpp"
        +#include "../PlanarPotentialField.hpp"
        +#include "../JointLimitAvoidanceController.hpp"
        +
        + + + + + +

        +Macros

        #define BOOST_TEST_DYN_LINK
         
        #define BOOST_TEST_MAIN
         
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        +Functions

        void runPotentialFieldController (std::string filename, CartesianPotentialFieldsController *ctrl, base::samples::RigidBodyStateSE3 start_pos, double cycleTime)
         
        int plot (std::string gnuplot_command)
         
         BOOST_AUTO_TEST_CASE (radial_field)
         
         BOOST_AUTO_TEST_CASE (constrained_radial_field)
         
         BOOST_AUTO_TEST_CASE (planar_field)
         
         BOOST_AUTO_TEST_CASE (multi_radial_field)
         
         BOOST_AUTO_TEST_CASE (joint_limit_avoidance)
         
        +

        Macro Definition Documentation

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        ◆ BOOST_TEST_DYN_LINK

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        #define BOOST_TEST_DYN_LINK
        +
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        ◆ BOOST_TEST_MAIN

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        #define BOOST_TEST_MAIN
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        ◆ BOOST_AUTO_TEST_CASE() [1/5]

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        BOOST_AUTO_TEST_CASE (constrained_radial_field )
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        ◆ BOOST_AUTO_TEST_CASE() [2/5]

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        BOOST_AUTO_TEST_CASE (joint_limit_avoidance )
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        ◆ BOOST_AUTO_TEST_CASE() [3/5]

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        BOOST_AUTO_TEST_CASE (multi_radial_field )
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        ◆ BOOST_AUTO_TEST_CASE() [4/5]

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        BOOST_AUTO_TEST_CASE (planar_field )
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        ◆ BOOST_AUTO_TEST_CASE() [5/5]

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        BOOST_AUTO_TEST_CASE (radial_field )
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        ◆ plot()

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        int plot (std::string gnuplot_command)
        +
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        +
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        ◆ runPotentialFieldController()

        + +
        +
        + + + + + + + + + + + + + + + + + + + + + +
        void runPotentialFieldController (std::string filename,
        CartesianPotentialFieldsController * ctrl,
        base::samples::RigidBodyStateSE3 start_pos,
        double cycleTime )
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        test_proxqp_solver.cpp File Reference
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        #include <boost/test/unit_test.hpp>
        +#include <iostream>
        +#include <sys/time.h>
        +#include <wbc/core/QuadraticProgram.hpp>
        +#include "../ProxQPSolver.hpp"
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        #define BOOST_TEST_DYN_LINK
         
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         BOOST_AUTO_TEST_CASE (solver_proxqp_without_constraints)
         
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         BOOST_AUTO_TEST_CASE (solver_proxqp_bounded)
         
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        #include <boost/test/unit_test.hpp>
        +#include <iostream>
        +#include <sys/time.h>
        +#include "core/QuadraticProgram.hpp"
        +#include "solvers/qpoases/QPOasesSolver.hpp"
        +
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        #define BOOST_TEST_DYN_LINK
         
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         BOOST_AUTO_TEST_CASE (solver_qp_oases_without_constraints)
         
         BOOST_AUTO_TEST_CASE (solver_qp_oases_with_equality_constraints)
         
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         BOOST_AUTO_TEST_CASE (solver_qpoases_bounded)
         
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        #include <boost/test/unit_test.hpp>
        +#include <iostream>
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        +#include <wbc/core/QuadraticProgram.hpp>
        +#include "../QPSwiftSolver.hpp"
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        #define BOOST_TEST_DYN_LINK
         
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         BOOST_AUTO_TEST_CASE (solver_qp_swift_with_equality_constraints)
         
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        Macro Definition Documentation

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        namespace  wbc
         
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        void wbc::printRbs (base::samples::RigidBodyStateSE3 rbs)
         
        base::samples::Joints wbc::makeRandomJointState (vector< string > joint_names)
         
        base::samples::RigidBodyStateSE3 wbc::makeRandomFloatingBaseState ()
         
        base::Twist wbc::operator- (const base::Pose &a, const base::Pose &b)
         
        void wbc::testFK (RobotModelPtr robot_model, const string &tip_frame, bool verbose)
         
        void wbc::testSpaceJacobian (RobotModelPtr robot_model, const string &tip_frame, bool verbose)
         
        void wbc::testBodyJacobian (RobotModelPtr robot_model, const string &tip_frame, bool verbose)
         
        void wbc::testCoMJacobian (RobotModelPtr robot_model, bool verbose)
         
        void wbc::testDynamics (RobotModelPtr robot_model, bool verbose)
         
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        #include <base/samples/RigidBodyStateSE3.hpp>
        +#include <base/samples/Joints.hpp>
        +#include <wbc/core/RobotModel.hpp>
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        base::samples::Joints wbc::makeRandomJointState (std::vector< std::string > joint_names)
         
        base::samples::RigidBodyStateSE3 wbc::makeRandomFloatingBaseState ()
         
        void wbc::testFK (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false)
         
        void wbc::testSpaceJacobian (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false)
         
        void wbc::testBodyJacobian (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false)
         
        void wbc::testCoMJacobian (RobotModelPtr robot_model, bool verbose)
         
        void wbc::testDynamics (RobotModelPtr robot_model, bool verbose)
         
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        +Go to the documentation of this file.
        1#ifndef TEST_ROBOT_MODEL_HPP
        +
        2#define TEST_ROBOT_MODEL_HPP
        +
        3
        +
        4#include <base/samples/RigidBodyStateSE3.hpp>
        +
        5#include <base/samples/Joints.hpp>
        +
        6#include <wbc/core/RobotModel.hpp>
        +
        7
        +
        8namespace wbc {
        +
        9void printRbs(base::samples::RigidBodyStateSE3 rbs);
        +
        10base::samples::Joints makeRandomJointState(std::vector<std::string> joint_names);
        +
        11base::samples::RigidBodyStateSE3 makeRandomFloatingBaseState();
        +
        12void testFK(RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false);
        +
        13void testSpaceJacobian(RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false);
        +
        14void testBodyJacobian(RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false);
        +
        15void testCoMJacobian(RobotModelPtr robot_model, bool verbose=false);
        +
        16void testDynamics(RobotModelPtr robot_model, bool verbose);
        +
        17}
        +
        18#endif
        +
        wbc
        Definition ContactsAccelerationConstraint.cpp:3
        +
        wbc::testSpaceJacobian
        void testSpaceJacobian(RobotModelPtr robot_model, const string &tip_frame, bool verbose)
        Definition test_robot_model.cpp:99
        +
        wbc::makeRandomFloatingBaseState
        base::samples::RigidBodyStateSE3 makeRandomFloatingBaseState()
        Definition test_robot_model.cpp:30
        +
        wbc::RobotModelPtr
        std::shared_ptr< RobotModel > RobotModelPtr
        Definition RobotModel.hpp:205
        +
        wbc::makeRandomJointState
        base::samples::Joints makeRandomJointState(vector< string > joint_names)
        Definition test_robot_model.cpp:16
        +
        wbc::testCoMJacobian
        void testCoMJacobian(RobotModelPtr robot_model, bool verbose)
        Definition test_robot_model.cpp:189
        +
        wbc::testBodyJacobian
        void testBodyJacobian(RobotModelPtr robot_model, const string &tip_frame, bool verbose)
        Definition test_robot_model.cpp:142
        +
        wbc::printRbs
        void printRbs(base::samples::RigidBodyStateSE3 rbs)
        Definition test_robot_model.cpp:7
        +
        wbc::testDynamics
        void testDynamics(RobotModelPtr robot_model, bool verbose)
        Definition test_robot_model.cpp:226
        +
        wbc::testFK
        void testFK(RobotModelPtr robot_model, const string &tip_frame, bool verbose)
        Definition test_robot_model.cpp:59
        +
        + +
        +Generated by doxygen 1.10.0 +
        + + diff --git a/test__robot__model__hyrodyn_8cpp.html b/test__robot__model__hyrodyn_8cpp.html new file mode 100644 index 00000000..4f529ed2 --- /dev/null +++ b/test__robot__model__hyrodyn_8cpp.html @@ -0,0 +1,245 @@ + + + + + + + +wbc: src/robot_models/hyrodyn/test/test_robot_model_hyrodyn.cpp File Reference + + + + + + + + + +
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        test_robot_model_hyrodyn.cpp File Reference
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        #include "robot_models/hyrodyn/RobotModelHyrodyn.hpp"
        +#include <boost/test/unit_test.hpp>
        +#include "../../test/test_robot_model.hpp"
        +
        + + + + + +

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        #define BOOST_TEST_DYN_LINK
         
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         BOOST_AUTO_TEST_CASE (space_jacobian)
         
         BOOST_AUTO_TEST_CASE (body_jacobian)
         
         BOOST_AUTO_TEST_CASE (com_jacobian)
         
         BOOST_AUTO_TEST_CASE (dynamics)
         
         BOOST_AUTO_TEST_CASE (compare_serial_vs_hybrid_model)
         
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        + +
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        BOOST_AUTO_TEST_CASE (compare_serial_vs_hybrid_model )
        +
        +

        Check if the differential inverse kinematics solution of a serial robot and the equivalent a series-parallel hybrid robot model match

        + +
        +
        + +

        ◆ BOOST_AUTO_TEST_CASE() [4/7]

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        BOOST_AUTO_TEST_CASE (configure_and_update )
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        Verify that the robot model fails to configure with invalid configurations

        + +
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        ◆ BOOST_AUTO_TEST_CASE() [5/7]

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        + + diff --git a/test__robot__model__kdl_8cpp.html b/test__robot__model__kdl_8cpp.html new file mode 100644 index 00000000..f470d538 --- /dev/null +++ b/test__robot__model__kdl_8cpp.html @@ -0,0 +1,232 @@ + + + + + + + +wbc: src/robot_models/kdl/test/test_robot_model_kdl.cpp File Reference + + + + + + + + + +
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        #include <boost/test/unit_test.hpp>
        +#include "../RobotModelKDL.hpp"
        +#include "../KinematicChainKDL.hpp"
        +#include <wbc/core/RobotModelConfig.hpp>
        +#include <kdl/chainfksolverpos_recursive.hpp>
        +#include <kdl/chainfksolvervel_recursive.hpp>
        +#include <kdl/chainjnttojacsolver.hpp>
        +#include <wbc/tools/URDFTools.hpp>
        +#include <kdl_parser/kdl_parser.hpp>
        +#include "../../test/test_robot_model.hpp"
        +
        + + + + + +

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        #define BOOST_TEST_DYN_LINK
         
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         BOOST_AUTO_TEST_CASE (configure_and_update)
         
         BOOST_AUTO_TEST_CASE (fk)
         
         BOOST_AUTO_TEST_CASE (space_jacobian)
         
         BOOST_AUTO_TEST_CASE (body_jacobian)
         
         BOOST_AUTO_TEST_CASE (com_jacobian)
         
         BOOST_AUTO_TEST_CASE (dynamics)
         
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        BOOST_AUTO_TEST_CASE (com_jacobian )
        +
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        ◆ BOOST_AUTO_TEST_CASE() [3/6]

        + +
        +
        + + + + + + + +
        BOOST_AUTO_TEST_CASE (configure_and_update )
        +
        +

        Verify that the robot model fails to configure with invalid configurations

        + +
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        ◆ BOOST_AUTO_TEST_CASE() [4/6]

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        + + diff --git a/test__robot__model__pinocchio_8cpp.html b/test__robot__model__pinocchio_8cpp.html new file mode 100644 index 00000000..1ab097f0 --- /dev/null +++ b/test__robot__model__pinocchio_8cpp.html @@ -0,0 +1,227 @@ + + + + + + + +wbc: src/robot_models/pinocchio/test/test_robot_model_pinocchio.cpp File Reference + + + + + + + + + +
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        test_robot_model_pinocchio.cpp File Reference
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        #include <boost/test/unit_test.hpp>
        +#include "../RobotModelPinocchio.hpp"
        +#include <wbc/core/RobotModelConfig.hpp>
        +#include <wbc/tools/URDFTools.hpp>
        +#include "../../test/test_robot_model.hpp"
        +
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         BOOST_AUTO_TEST_CASE (configure_and_update)
         
         BOOST_AUTO_TEST_CASE (fk)
         
         BOOST_AUTO_TEST_CASE (space_jacobian)
         
         BOOST_AUTO_TEST_CASE (body_jacobian)
         
         BOOST_AUTO_TEST_CASE (com_jacobian)
         
         BOOST_AUTO_TEST_CASE (dynamics)
         
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        BOOST_AUTO_TEST_CASE (configure_and_update )
        +
        +

        Verify that the robot model fails to configure with invalid configurations

        + +
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        ◆ BOOST_AUTO_TEST_CASE() [4/6]

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        + + diff --git a/test__robot__model__rbdl_8cpp.html b/test__robot__model__rbdl_8cpp.html new file mode 100644 index 00000000..1d7fe7bc --- /dev/null +++ b/test__robot__model__rbdl_8cpp.html @@ -0,0 +1,226 @@ + + + + + + + +wbc: src/robot_models/rbdl/test/test_robot_model_rbdl.cpp File Reference + + + + + + + + + +
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        #include <boost/test/unit_test.hpp>
        +#include <rbdl/addons/urdfreader/urdfreader.h>
        +#include "tools/URDFTools.hpp"
        +#include "robot_models/rbdl/RobotModelRBDL.hpp"
        +#include "../../test/test_robot_model.hpp"
        +
        + + + + + +

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        #define BOOST_TEST_DYN_LINK
         
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         BOOST_AUTO_TEST_CASE (space_jacobian)
         
         BOOST_AUTO_TEST_CASE (body_jacobian)
         
         BOOST_AUTO_TEST_CASE (com_jacobian)
         
         BOOST_AUTO_TEST_CASE (dynamics)
         
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        #include <boost/test/unit_test.hpp>
        +#include "robot_models/rbdl/RobotModelRBDL.hpp"
        +#include "scenes/velocity/VelocityScene.hpp"
        +#include "solvers/hls/HierarchicalLSSolver.hpp"
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        Check if the WBC velocity scene fails to configure with invalid configuration

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        #include <boost/test/unit_test.hpp>
        +#include "robot_models/rbdl/RobotModelRBDL.hpp"
        +#include "scenes/velocity_qp/VelocitySceneQP.hpp"
        +#include "solvers/qpoases/QPOasesSolver.hpp"
        +
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