| 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/kinematics-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 |
1 |
int main(int argc, char ** argv) |
|
13 |
{ |
||
14 |
using namespace pinocchio; |
||
15 |
|||
16 |
// You should change here to set up your own URDF file or just pass it as an argument of this example. |
||
17 |
✓✗✓✗ ✓✗✗✗ ✗✓✓✗ ✓✗✗✗ ✗✗✗✗ |
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]; |
18 |
|||
19 |
// Load the URDF model |
||
20 |
✓✗ | 2 |
Model model; |
21 |
✓✗ | 1 |
pinocchio::urdf::buildModel(urdf_filename,model); |
22 |
|||
23 |
// Build a data related to model |
||
24 |
✓✗ | 2 |
Data data(model); |
25 |
|||
26 |
// Sample a random joint configuration as well as random joint velocity and acceleration |
||
27 |
✓✗ | 2 |
Eigen::VectorXd q = randomConfiguration(model); |
28 |
✓✗✓✗ |
2 |
Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv); |
29 |
✓✗✓✗ |
2 |
Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv); |
30 |
|||
31 |
// Computes the kinematics derivatives for all the joints of the robot |
||
32 |
✓✗ | 1 |
computeForwardKinematicsDerivatives(model, data, q, v, a); |
33 |
|||
34 |
// Retrieve the kinematics derivatives of a specific joint, expressed in the LOCAL frame of the joints. |
||
35 |
1 |
JointIndex joint_id = (JointIndex)(model.njoints-1); |
|
36 |
✓✗✓✗ ✓✗✓✗ |
2 |
Data::Matrix6x v_partial_dq(6,model.nv), a_partial_dq(6,model.nv), a_partial_dv(6,model.nv), a_partial_da(6,model.nv); |
37 |
✓✗ | 1 |
v_partial_dq.setZero(); |
38 |
✓✗✓✗ ✓✗ |
1 |
a_partial_dq.setZero(); a_partial_dv.setZero(); a_partial_da.setZero(); |
39 |
✓✗ | 1 |
getJointAccelerationDerivatives(model,data,joint_id,LOCAL,v_partial_dq, |
40 |
a_partial_dq,a_partial_dv,a_partial_da); |
||
41 |
|||
42 |
// Remark: we are not directly computing the quantity v_partial_dv as it is also equal to a_partial_da. |
||
43 |
|||
44 |
// But we can also expressed the same quantities in the frame centered on the end-effector joint, but expressed in the axis aligned with the world frame. |
||
45 |
✓✗ | 1 |
getJointAccelerationDerivatives(model,data,joint_id,WORLD,v_partial_dq, |
46 |
a_partial_dq,a_partial_dv,a_partial_da); |
||
47 |
|||
48 |
1 |
} |
| Generated by: GCOVR (Version 4.2) |