jacobiandottest.cpp File Reference

#include "jacobiandottest.hpp"

Include dependency graph for jacobiandottest.cpp:

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Namespaces
	KDL

Functions
void	changeRepresentation (Jacobian &J, const Frame &F_bs_ee, const int &representation)
double	compare_d2_Jdot_Symbolic_vs_Solver (bool verbose)
double	compare_Jdot_Diff_vs_Solver (const Chain &chain, const double &dt, const int &representation, bool verbose)
	CPPUNIT_TEST_SUITE_REGISTRATION (JacobianDotTest)
Chain	KDL::d2 ()
Chain	KDL::d6 ()
JntArray	diff (const JntArray &q, const JntArray &qdot, const double &dt)
Jacobian	J_d2_symbolic (const JntArray &q, const JntArray &)
Jacobian	Jdot_d2_symbolic (const JntArray &q, const JntArray &qdot)
void	Jdot_diff (const Jacobian &J_q, const Jacobian &J_qdt, const double &dt, Jacobian &Jdot)
Chain	KDL::KukaLWR_DHnew ()
void	random (JntArray &q)
bool	runTest (const Chain &chain, const int &representation)

Variables
static const double	KDL::L0 = 1.0
static const double	KDL::L1 = 0.5
static const double	KDL::L2 = 0.4
static const double	KDL::L3 = 0
static const double	KDL::L4 = 0
static const double	KDL::L5 = 0

Function Documentation

changeRepresentation()

void changeRepresentation	(	Jacobian &	J,
		const Frame &	F_bs_ee,
		const int &	representation
	)

Definition at line 93 of file jacobiandottest.cpp.

compare_d2_Jdot_Symbolic_vs_Solver()

double compare_d2_Jdot_Symbolic_vs_Solver

(

bool

verbose

)

Definition at line 215 of file jacobiandottest.cpp.

compare_Jdot_Diff_vs_Solver()

double compare_Jdot_Diff_vs_Solver	(	const Chain &	chain,
		const double &	dt,
		const int &	representation,
		bool	verbose
	)

Definition at line 160 of file jacobiandottest.cpp.

CPPUNIT_TEST_SUITE_REGISTRATION()

CPPUNIT_TEST_SUITE_REGISTRATION

(

JacobianDotTest

)

diff()

JntArray diff	(	const JntArray &	q,
		const JntArray &	qdot,
		const double &	dt
	)

Definition at line 146 of file jacobiandottest.cpp.

J_d2_symbolic()

Jacobian J_d2_symbolic	(	const JntArray &	q,
		const JntArray &
	)

Definition at line 133 of file jacobiandottest.cpp.

Jdot_d2_symbolic()

Jacobian Jdot_d2_symbolic	(	const JntArray &	q,
		const JntArray &	qdot
	)

Definition at line 121 of file jacobiandottest.cpp.

Jdot_diff()

void Jdot_diff	(	const Jacobian &	J_q,
		const Jacobian &	J_qdt,
		const double &	dt,
		Jacobian &	Jdot
	)

Definition at line 109 of file jacobiandottest.cpp.

random()

void random

(

JntArray &

q

)

Definition at line 154 of file jacobiandottest.cpp.

runTest()

bool runTest	(	const Chain &	chain,
		const int &	representation
	)

Definition at line 249 of file jacobiandottest.cpp.