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// |
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// Copyright (c) 2015-2018 CNRS |
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// |
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#include <iostream> |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/algorithm/joint-configuration.hpp" |
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#include "pinocchio/algorithm/kinematics.hpp" |
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#include "pinocchio/algorithm/geometry.hpp" |
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#include "pinocchio/parsers/sample-models.hpp" |
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#include <boost/test/unit_test.hpp> |
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BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE ) |
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BOOST_AUTO_TEST_CASE ( build_model_sample_humanoid_random ) |
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{ |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model,true); |
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BOOST_CHECK(model.nq == 33); |
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BOOST_CHECK(model.nv == 32); |
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pinocchio::Model modelff; |
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pinocchio::buildModels::humanoidRandom(modelff,false); |
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BOOST_CHECK(modelff.nq == 32); |
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BOOST_CHECK(modelff.nv == 32); |
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} |
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BOOST_AUTO_TEST_CASE ( build_model_sample_manipulator ) |
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{ |
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pinocchio::Model model; |
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pinocchio::buildModels::manipulator(model); |
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BOOST_CHECK(model.nq == 6); |
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BOOST_CHECK(model.nv == 6); |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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pinocchio::Data data(model); |
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pinocchio::GeometryModel geom; |
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pinocchio::buildModels::manipulatorGeometries(model,geom); |
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#endif |
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} |
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BOOST_AUTO_TEST_CASE ( build_model_sample_humanoid ) |
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{ |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoid(model); |
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pinocchio::Data data(model); |
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BOOST_CHECK(model.nq == 35); |
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BOOST_CHECK(model.nv == 34); |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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pinocchio::GeometryModel geom; |
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pinocchio::buildModels::humanoidGeometries(model,geom); |
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pinocchio::GeometryData geomdata(geom); |
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Eigen::VectorXd q = pinocchio::neutral(model); |
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pinocchio::forwardKinematics(model,data,q); |
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pinocchio::updateGeometryPlacements(model,data,geom,geomdata,q); |
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#endif |
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/* We might want to check here the joint namings, and validate the |
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* direct geometry with respect to reference values. */ |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
| Generated by: GCOVR (Version 4.2) |