Kindr
Kinematics and Dynamics for Robotics
kindr::ConventionTest< OtherRotation_, OtherVelocity_, PrimType_ > Class Template Reference

Convention tests that need to be fulfilled. More...

#include <gtest_rotations.hpp>

Static Public Member Functions

static void testConcatenation ()
 
static void testRotationMatrix ()
 
static void testGeometricalInterpretation ()
 
static void checkGeometricalInterpretation (kindr::RotationQuaternion< PrimType_ > rotationBToA, Eigen::Matrix< PrimType_, 3, 1 > expected_A_r_Bx, Eigen::Matrix< PrimType_, 3, 1 > expected_A_r_By, Eigen::Matrix< PrimType_, 3, 1 > expected_A_r_Bz)
 
static void testBoxPlus ()
 

Detailed Description

template<typename OtherRotation_, typename OtherVelocity_, typename PrimType_>
class kindr::ConventionTest< OtherRotation_, OtherVelocity_, PrimType_ >

Convention tests that need to be fulfilled.

Implement the ConversionTraits and the following unit tests (RBDL example): TEST(ConventionTest, Concatenation) { ConventionTest<RigidBodyDynamics::Math::Quaternion, Eigen::Vector3d, double>::testConcatenation(); } TEST(ConventionTest, Rotation) { ConventionTest<RigidBodyDynamics::Math::Quaternion, Eigen::Vector3d, double>::testRotationMatrix(); } TEST(ConventionTest, BoxPlus) { ConventionTest<RigidBodyDynamics::Math::Quaternion, Eigen::Vector3d, double>::testBoxPlus(); }

Definition at line 58 of file gtest_rotations.hpp.

Member Function Documentation

◆ checkGeometricalInterpretation()

template<typename OtherRotation_ , typename OtherVelocity_ , typename PrimType_ >
static void kindr::ConventionTest< OtherRotation_, OtherVelocity_, PrimType_ >::checkGeometricalInterpretation ( kindr::RotationQuaternion< PrimType_ >  rotationBToA,
Eigen::Matrix< PrimType_, 3, 1 >  expected_A_r_Bx,
Eigen::Matrix< PrimType_, 3, 1 >  expected_A_r_By,
Eigen::Matrix< PrimType_, 3, 1 >  expected_A_r_Bz 
)
inlinestatic

Definition at line 148 of file gtest_rotations.hpp.

◆ testBoxPlus()

template<typename OtherRotation_ , typename OtherVelocity_ , typename PrimType_ >
static void kindr::ConventionTest< OtherRotation_, OtherVelocity_, PrimType_ >::testBoxPlus ( )
inlinestatic

Definition at line 209 of file gtest_rotations.hpp.

◆ testConcatenation()

template<typename OtherRotation_ , typename OtherVelocity_ , typename PrimType_ >
static void kindr::ConventionTest< OtherRotation_, OtherVelocity_, PrimType_ >::testConcatenation ( )
inlinestatic

Definition at line 60 of file gtest_rotations.hpp.

◆ testGeometricalInterpretation()

template<typename OtherRotation_ , typename OtherVelocity_ , typename PrimType_ >
static void kindr::ConventionTest< OtherRotation_, OtherVelocity_, PrimType_ >::testGeometricalInterpretation ( )
inlinestatic

Definition at line 100 of file gtest_rotations.hpp.

◆ testRotationMatrix()

template<typename OtherRotation_ , typename OtherVelocity_ , typename PrimType_ >
static void kindr::ConventionTest< OtherRotation_, OtherVelocity_, PrimType_ >::testRotationMatrix ( )
inlinestatic

Definition at line 83 of file gtest_rotations.hpp.


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