GCC Code Coverage Report | |||||||||||||||||||||
|
|||||||||||||||||||||
Line | Branch | Exec | Source |
1 |
#include "pinocchio/parsers/urdf.hpp" |
||
2 |
|||
3 |
#include "pinocchio/algorithm/joint-configuration.hpp" |
||
4 |
#include "pinocchio/algorithm/rnea-derivatives.hpp" |
||
5 |
|||
6 |
#include <iostream> |
||
7 |
|||
8 |
// PINOCCHIO_MODEL_DIR is defined by the CMake but you can define your own directory here. |
||
9 |
#ifndef PINOCCHIO_MODEL_DIR |
||
10 |
#define PINOCCHIO_MODEL_DIR "path_to_the_model_dir" |
||
11 |
#endif |
||
12 |
|||
13 |
1 |
int main(int argc, char ** argv) |
|
14 |
{ |
||
15 |
using namespace pinocchio; |
||
16 |
|||
17 |
// You should change here to set up your own URDF file or just pass it as an argument of this example. |
||
18 |
✓✗✓✗ ✓✗✗✗ ✗✓✓✗ ✓✗✗✗ ✗✗✗✗ |
3 |
const std::string urdf_filename = (argc<=1) ? PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/ur_description/urdf/ur5_robot.urdf") : argv[1]; |
19 |
|||
20 |
// Load the URDF model |
||
21 |
✓✗ | 2 |
Model model; |
22 |
✓✗ | 1 |
pinocchio::urdf::buildModel(urdf_filename,model); |
23 |
|||
24 |
// Build a data related to model |
||
25 |
✓✗ | 2 |
Data data(model); |
26 |
|||
27 |
// Sample a random joint configuration as well as random joint velocity and acceleration |
||
28 |
✓✗ | 2 |
Eigen::VectorXd q = randomConfiguration(model); |
29 |
✓✗✓✗ |
2 |
Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv); |
30 |
✓✗✓✗ |
2 |
Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv); |
31 |
|||
32 |
// Allocate result container |
||
33 |
✓✗✓✗ |
2 |
Eigen::MatrixXd djoint_torque_dq = Eigen::MatrixXd::Zero(model.nv,model.nv); |
34 |
✓✗✓✗ |
2 |
Eigen::MatrixXd djoint_torque_dv = Eigen::MatrixXd::Zero(model.nv,model.nv); |
35 |
✓✗✓✗ |
1 |
Eigen::MatrixXd djoint_torque_da = Eigen::MatrixXd::Zero(model.nv,model.nv); |
36 |
|||
37 |
// Computes the inverse dynamics (RNEA) derivatives for all the joints of the robot |
||
38 |
✓✗ | 1 |
computeRNEADerivatives(model, data, q, v, a, djoint_torque_dq, djoint_torque_dv, djoint_torque_da); |
39 |
|||
40 |
// Get access to the joint torque |
||
41 |
✓✗✓✗ ✓✗✓✗ |
1 |
std::cout << "Joint torque: " << data.tau.transpose() << std::endl; |
42 |
1 |
} |
Generated by: GCOVR (Version 4.2) |