Cheetah Software
1.0
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#include "Dynamics/FloatingBaseModel.h"
#include "Dynamics/Quadruped.h"
#include "Utilities/utilities.h"
#include "include/Dynamics/Cheetah3.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
#include <stdio.h>
Go to the source code of this file.
Functions | |
TEST (Cheetah3, simulatorDynamicsDoesntCrashCheetah3) | |
TEST (Cheetah3, simulatorContactInertiaCheetah3) | |
TEST (Cheetah3, simulatorTestForceCheetah3) | |
TEST | ( | Cheetah3 | , |
simulatorDynamicsDoesntCrashCheetah3 | |||
) |
Creates a cheetah model and runs forward kinematics and ABA Doesn't test anyting - this is just to make sure it doesn't crash
Definition at line 25 of file test_cheetah3_model.cpp.
References FloatingBaseModel< T >::_nDof, FloatingBaseModel< T >::forwardKinematics(), FBModelStateDerivative< T >::qdd, and FloatingBaseModel< T >::runABA().
TEST | ( | Cheetah3 | , |
simulatorContactInertiaCheetah3 | |||
) |
Run the contact inertia algorithm for cheetah 3 Set a weird body orientation, velocity, q, dq, and tau Checks that it matches the result from J H^(-1) J^T
Definition at line 40 of file test_cheetah3_model.cpp.
References FloatingBaseModel< T >::_Jc, almostEqual(), FBModelState< T >::bodyOrientation, FBModelState< T >::bodyPosition, FBModelState< T >::bodyVelocity, FloatingBaseModel< T >::contactJacobians(), ori::coordinateRotation(), FloatingBaseModel< T >::invContactInertia(), FloatingBaseModel< T >::massMatrix(), FBModelState< T >::q, FBModelState< T >::qd, ori::rotationMatrixToQuaternion(), and FloatingBaseModel< T >::setState().
TEST | ( | Cheetah3 | , |
simulatorTestForceCheetah3 | |||
) |
Check a test force for cheetah 3 Set a weird body orientation, velocity, q, dq, and tau Checks the result matches qdd = H^(-1) J^T F
Definition at line 86 of file test_cheetah3_model.cpp.
References FloatingBaseModel< T >::_Jc, almostEqual(), FloatingBaseModel< T >::applyTestForce(), FBModelState< T >::bodyOrientation, FBModelState< T >::bodyPosition, FBModelState< T >::bodyVelocity, FloatingBaseModel< T >::contactJacobians(), ori::coordinateRotation(), FBModelStateDerivative< T >::dBodyVelocity, FloatingBaseModel< T >::invContactInertia(), FloatingBaseModel< T >::massMatrix(), FBModelState< T >::q, FBModelState< T >::qd, FBModelStateDerivative< T >::qdd, ori::rotationMatrixToQuaternion(), and FloatingBaseModel< T >::setState().