benchmarkRigidBodyTree.cpp File Reference

#include <cmath>
#include "drake/common/eigen_types.h"
#include "drake/math/autodiff.h"
#include "drake/systems/plants/RigidBodyTree.h"
#include "drake/util/testUtil.h"

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Typedefs
typedef DrakeJoint::AutoDiffFixedMaxSize	AutoDiffFixedMaxSize
typedef AutoDiffScalar< VectorXd >	AutoDiffDynamicSize

Functions
uniform_real_distribution	uniform (0, 1)
template<int Rows, int Cols>
void	printMatrix (const MatrixBase< Matrix< double, Rows, Cols >> &mat)
template<int Rows, int Cols, typename DerType >
void	printMatrix (const MatrixBase< Matrix< AutoDiffScalar< DerType >, Rows, Cols >> &mat)
template<typename Scalar >
void	scenario1 (const RigidBodyTree &model, KinematicsCache< Scalar > &cache, const vector< Matrix< Scalar, Dynamic, 1 >> &qs, const map< int, Matrix3Xd > &body_fixed_points)
template<typename Scalar >
void	scenario2 (const RigidBodyTree &model, KinematicsCache< Scalar > &cache, const vector< pair< Matrix< Scalar, Dynamic, 1 >, Matrix< Scalar, Dynamic, 1 >>> &states)
void	testScenario1 (const RigidBodyTree &model)
void	testScenario2 (const RigidBodyTree &model)
int	main ()

Variables
default_random_engine	generator

Typedef Documentation

typedef AutoDiffScalar<VectorXd> AutoDiffDynamicSize

typedef DrakeJoint::AutoDiffFixedMaxSize AutoDiffFixedMaxSize

Function Documentation

int main

(

)

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void printMatrix

(

const MatrixBase< Matrix< double, Rows, Cols >> &

mat

)

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void printMatrix

(

const MatrixBase< Matrix< AutoDiffScalar< DerType >, Rows, Cols >> &

mat

)

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void scenario1	(	const RigidBodyTree &	model,
		KinematicsCache< Scalar > &	cache,
		const vector< Matrix< Scalar, Dynamic, 1 >> &	qs,
		const map< int, Matrix3Xd > &	body_fixed_points
	)

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void scenario2	(	const RigidBodyTree &	model,
		KinematicsCache< Scalar > &	cache,
		const vector< pair< Matrix< Scalar, Dynamic, 1 >, Matrix< Scalar, Dynamic, 1 >>> &	states
	)

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void testScenario1

(

const RigidBodyTree &

model

)

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void testScenario2

(

const RigidBodyTree &

model

)

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uniform_real_distribution uniform	(	0	,
		1
	)

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Variable Documentation

default_random_engine generator