us.ihmc.utilities.screwTheory
Class CenterOfMassJacobianTest
java.lang.Object
us.ihmc.utilities.screwTheory.CenterOfMassJacobianTest
public class CenterOfMassJacobianTest
- extends java.lang.Object
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
CenterOfMassJacobianTest
public CenterOfMassJacobianTest()
setUp
public void setUp()
testComputeJacobianSingleJoint
public void testComputeJacobianSingleJoint()
testComputeJacobianTwoJointsSimple
public void testComputeJacobianTwoJointsSimple()
testComputeJacobianRandomChain
public void testComputeJacobianRandomChain()
testTree
public void testTree()
testRigidBodyListSortInvariant
public void testRigidBodyListSortInvariant()
testComputeJacobianSixDoFPlusRandomChain
public void testComputeJacobianSixDoFPlusRandomChain()
testComputeJacobianSkipLeafBody
public void testComputeJacobianSkipLeafBody()
testComputeJacobianSkipIntermediateBody
public void testComputeJacobianSkipIntermediateBody()
testComputeRootJointLinearVelocity
public void testComputeRootJointLinearVelocity()
computeCenterOfMassVelocityNumerically
public static FrameVector computeCenterOfMassVelocityNumerically(SixDoFJoint sixDoFJoint,
java.util.ArrayList<RevoluteJoint> revoluteJoints,
RigidBody rootBody,
RigidBody[] rigidBodiesToUse,
ReferenceFrame referenceFrame)