#include "ros/ros.h"
#include <kindr/Core>
#include <Eigen/Core>
#include <math_utils/Core>
#include <kinematics/kinematics.h>
#include <debug_utils/debug_utils.h>

Include dependency graph for kinematics_node.cpp:

Functions
void	someRandomTesting ()

void	testKindr ()

void	testDhTransform ()

void	testSingleLegKinematics ()

void	testEigen ()

void	testHipToFootTransform ()

void	testForwardKinematics ()

void	testSingeLegInverseKinematics ()

void	testInverseKinematics ()

void	testPositionBaseToFoot ()

void	testTranslationJacobian ()

void	testRotationJacobian ()

void	testJacobian ()

void	testBaseJacobian ()

void	testMassMatrix ()

void	testGravitationalTerms ()

void	testEulerDiff ()

void	testCoriolisAndCentrifugalTerms ()

void	testNullSpaceProjector ()

void	testSVDNullSpaceProjector ()

void	testContactJacobian ()

void	testEigenStacking ()

void	testRotationWToC ()

void	testContactForceLimitsMatrix ()

void	testControlFrame ()

void	testEigenQ ()

int	main (int argc, char **argv)

Function Documentation

◆ someRandomTesting()

void someRandomTesting ( )

Definition at line 15 of file kinematics_node.cpp.

◆ testKindr()

void testKindr ( )

Definition at line 50 of file kinematics_node.cpp.

◆ testDhTransform()

void testDhTransform ( )

Definition at line 68 of file kinematics_node.cpp.

◆ testSingleLegKinematics()

void testSingleLegKinematics ( )

Definition at line 85 of file kinematics_node.cpp.

◆ testEigen()

void testEigen ( )

Definition at line 103 of file kinematics_node.cpp.

◆ testHipToFootTransform()

void testHipToFootTransform ( )

Definition at line 127 of file kinematics_node.cpp.

◆ testForwardKinematics()

void testForwardKinematics ( )

Definition at line 146 of file kinematics_node.cpp.

◆ testSingeLegInverseKinematics()

void testSingeLegInverseKinematics ( )

Definition at line 180 of file kinematics_node.cpp.

◆ testInverseKinematics()

void testInverseKinematics ( )

Definition at line 196 of file kinematics_node.cpp.

◆ testPositionBaseToFoot()

void testPositionBaseToFoot ( )

Definition at line 225 of file kinematics_node.cpp.

◆ testTranslationJacobian()

void testTranslationJacobian ( )

Definition at line 268 of file kinematics_node.cpp.

◆ testRotationJacobian()

void testRotationJacobian ( )

Definition at line 305 of file kinematics_node.cpp.

◆ testJacobian()

void testJacobian ( )

Definition at line 341 of file kinematics_node.cpp.

◆ testBaseJacobian()

void testBaseJacobian ( )

Definition at line 379 of file kinematics_node.cpp.

◆ testMassMatrix()

void testMassMatrix ( )

Definition at line 410 of file kinematics_node.cpp.

◆ testGravitationalTerms()

void testGravitationalTerms ( )

Definition at line 441 of file kinematics_node.cpp.

◆ testEulerDiff()

void testEulerDiff ( )

Definition at line 475 of file kinematics_node.cpp.

◆ testCoriolisAndCentrifugalTerms()

void testCoriolisAndCentrifugalTerms ( )

Definition at line 529 of file kinematics_node.cpp.

◆ testNullSpaceProjector()

void testNullSpaceProjector ( )

Definition at line 579 of file kinematics_node.cpp.

◆ testSVDNullSpaceProjector()

void testSVDNullSpaceProjector ( )

Definition at line 607 of file kinematics_node.cpp.

◆ testContactJacobian()

void testContactJacobian ( )

Definition at line 643 of file kinematics_node.cpp.

◆ testEigenStacking()

void testEigenStacking ( )

Definition at line 676 of file kinematics_node.cpp.

◆ testRotationWToC()

void testRotationWToC ( )

Definition at line 782 of file kinematics_node.cpp.

◆ testContactForceLimitsMatrix()

void testContactForceLimitsMatrix ( )

Definition at line 799 of file kinematics_node.cpp.

◆ testControlFrame()

void testControlFrame ( )

Definition at line 833 of file kinematics_node.cpp.

◆ testEigenQ()

void testEigenQ ( )

Definition at line 883 of file kinematics_node.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 901 of file kinematics_node.cpp.

Functions