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java.lang.Objectus.ihmc.utilities.screwTheory.SpatialMotionVectorTest
us.ihmc.utilities.screwTheory.TwistTest
public class TwistTest
Nested Class Summary |
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Nested classes/interfaces inherited from class us.ihmc.utilities.screwTheory.SpatialMotionVectorTest |
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SpatialMotionVectorTest.GenericSpatialMotionVector |
Constructor Summary | |
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TwistTest()
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Method Summary | |
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void |
tearDown()
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void |
testAdd()
Test adding two twists, both expressed in the same reference frame, and the second relative to the first (which is allowed) |
void |
testAddExpressedInDifferentFrames()
You shouldn't be able to add two twists expressed in different frames |
void |
testAddNotRelative()
You shouldn't be able to add two twists if the second is not relative to the first |
void |
testBodyOriginLinearPartInBaseFrameAndAngularVelocity()
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void |
testChangeFrame()
Test changing frames by comparing the results of changeExpressedInWhatReferenceFrame() with the results of the 'tilde' formula from Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25, lemma 2.8 (b) |
void |
testChangeFrameSameFrame()
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void |
testConstructionAndGettersAndSetters()
Basic test of constructor, getters and setters |
void |
testConstructUsingArray()
Constructing using a double array |
void |
testConstructUsingArrayTooBig()
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void |
testConstructUsingArrayTooSmall()
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void |
testCopyConstructor()
Copy constructor |
void |
testDefaultConstructor()
default constructor |
void |
testDotProduct()
Dot product |
void |
testDotProductNotAllowed1()
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void |
testDotProductNotAllowed2()
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void |
testGetMatrix()
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void |
testScrewConstruction()
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void |
testSub()
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void |
testSubFramesDontMatchUp()
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void |
testSubWrongExpressedInFrame()
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void |
testVelocityOfPointConsistency()
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Methods inherited from class us.ihmc.utilities.screwTheory.SpatialMotionVectorTest |
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setUp, testConstructUsingMatrix, testConstructUsingMatrixTooBig, testConstructUsingMatrixTooBig2, testConstructUsingMatrixTooSmall, testInvert, testLimitLinearAndAngularParts |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public TwistTest()
Method Detail |
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public void tearDown() throws java.lang.Exception
java.lang.Exception
public void testConstructionAndGettersAndSetters()
public void testDefaultConstructor()
public void testConstructUsingArray()
public void testConstructUsingArrayTooSmall()
public void testConstructUsingArrayTooBig()
public void testCopyConstructor()
public void testDotProduct()
public void testDotProductNotAllowed1()
public void testDotProductNotAllowed2()
public void testAddExpressedInDifferentFrames()
public void testAddNotRelative()
public void testAdd()
public void testSub()
public void testSubWrongExpressedInFrame()
public void testSubFramesDontMatchUp()
public void testChangeFrame()
public void testChangeFrameSameFrame()
public void testGetMatrix()
public void testVelocityOfPointConsistency()
public void testBodyOriginLinearPartInBaseFrameAndAngularVelocity()
public void testScrewConstruction()
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