roboticslab::test::ScrewTheoryTest Class Reference

Tests classes related to Screw Theory.

Inheritance diagram for roboticslab::test::ScrewTheoryTest:

Classes
struct	compare_solutions

Public Member Functions
void	SetUp () override
void	TearDown () override

Static Public Member Functions
static KDL::JntArray	fillJointValues (int size, double value)
static KDL::Chain	makeTeoRightArmKinematicsFromDH ()
static PoeExpression	makeTeoRightArmKinematicsFromPoE ()
static KDL::Chain	makeTeoRightLegKinematicsFromDH ()
static PoeExpression	makeTeoRightLegKinematicsFromPoE ()
static KDL::Chain	makeAbbIrb120KinematicsFromDH ()
static PoeExpression	makeAbbIrb120KinematicsFromPoE ()
static KDL::Chain	makePumaKinematicsFromDH ()
static PoeExpression	makePumaKinematicsFromPoE ()
static KDL::Chain	makeStanfordKinematicsFromDH ()
static PoeExpression	makeStanfordKinematicsFromPoE ()
static KDL::Chain	makeAbbIrb910scKinematicsFromDH ()
static PoeExpression	makeAbbIrb910scKinematicsFromPoE ()
static KDL::Chain	makeAbbIrb6620lxFromDh ()
static PoeExpression	makeAbbIrb6620lxFromPoE ()
static void	checkSolutions (const ScrewTheoryIkSubproblem::Solutions &actual, const ScrewTheoryIkSubproblem::Solutions &expected)
static void	checkRobotKinematics (const KDL::Chain &chain, const PoeExpression &poe, int soln)
static int	findTargetConfiguration (const ScrewTheoryIkProblem::Solutions &solutions, const KDL::JntArray &target)

Static Private Attributes
static struct roboticslab::test::ScrewTheoryTest::compare_solutions	solutionComparator

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

• tests/testScrewTheory.cpp