Drake
GenericPlanTest Class Reference

#include <drake/systems/controllers/plan_eval/test/test_common.h>

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Protected Member Functions

void AllocateResources (const std::string &robot_path, const std::string &alias_groups_path, const std::string &control_param_path)
 
void SetRandomConfiguration (std::default_random_engine *generator)
 
VectorX< doubleComputeExpectedDoFAcceleration (const VectorX< double > &q_d, const VectorX< double > &v_d, const VectorX< double > &vd_d) const
 
Vector6< doubleComputeExpectedBodyAcceleration (const RigidBody< double > *body, const Isometry3< double > pose_d, const Vector6< double > vel_d, const Vector6< double > acc_d) const
 
void TestGenericClone () const
 

Protected Attributes

std::unique_ptr< RigidBodyTree< double > > robot_ {nullptr}
 
std::unique_ptr< RigidBodyTreeAliasGroups< double > > alias_groups_ {nullptr}
 
std::unique_ptr< systems::controllers::qp_inverse_dynamics::ParamSetparams_
 
std::unique_ptr< systems::controllers::qp_inverse_dynamics::RobotKinematicState< double > > robot_status_ {nullptr}
 
std::unique_ptr< GenericPlan< double > > dut_ {nullptr}
 

Member Function Documentation

void AllocateResources ( const std::string &  robot_path,
const std::string &  alias_groups_path,
const std::string &  control_param_path 
)
inlineprotected

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Vector6<double> ComputeExpectedBodyAcceleration ( const RigidBody< double > *  body,
const Isometry3< double pose_d,
const Vector6< double vel_d,
const Vector6< double acc_d 
) const
inlineprotected

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VectorX<double> ComputeExpectedDoFAcceleration ( const VectorX< double > &  q_d,
const VectorX< double > &  v_d,
const VectorX< double > &  vd_d 
) const
inlineprotected
void SetRandomConfiguration ( std::default_random_engine *  generator)
inlineprotected
void TestGenericClone ( ) const
inlineprotected

Member Data Documentation

std::unique_ptr<RigidBodyTreeAliasGroups<double> > alias_groups_ {nullptr}
protected
std::unique_ptr<GenericPlan<double> > dut_ {nullptr}
protected
std::unique_ptr<systems::controllers::qp_inverse_dynamics::ParamSet> params_
protected
Initial value:
{
nullptr}
std::unique_ptr<RigidBodyTree<double> > robot_ {nullptr}
protected
std::unique_ptr< systems::controllers::qp_inverse_dynamics::RobotKinematicState<double> > robot_status_ {nullptr}
protected

The documentation for this class was generated from the following file: