Cheetah Software
1.0
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#include "Controllers/LegController.h"
#include "Dynamics/MiniCheetah.h"
#include "Dynamics/Quadruped.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
Go to the source code of this file.
Functions | |
TEST (LegController, JacobianAndFwdKinematics1) | |
TEST (LegController, JacobianAndFwdKinematics2) | |
TEST (LegController, FwdKinematicsLegSign) | |
Todo: it would be nice to test these against the full dynamics model!
Definition in file test_LegController.cpp.
TEST | ( | LegController | , |
JacobianAndFwdKinematics1 | |||
) |
Test jacobian by verifying that fwd_kin(q + dq) = fwd_kin(q) + J * qd
Definition at line 15 of file test_LegController.cpp.
References almostEqual(), and computeLegJacobianAndPosition().
TEST | ( | LegController | , |
JacobianAndFwdKinematics2 | |||
) |
Test jacobian by finding it analytically
Definition at line 35 of file test_LegController.cpp.
References almostEqual(), and computeLegJacobianAndPosition().
TEST | ( | LegController | , |
FwdKinematicsLegSign | |||
) |
Check that the foot is in the right spot when all joints are at zero
Definition at line 62 of file test_LegController.cpp.
References Quadruped< T >::_abadLinkLength, Quadruped< T >::_hipLinkLength, Quadruped< T >::_kneeLinkLength, almostEqual(), and computeLegJacobianAndPosition().