us.ihmc.utilities.screwTheory
Class CenterOfMassJacobianTest

java.lang.Object
  extended by us.ihmc.utilities.screwTheory.CenterOfMassJacobianTest

public class CenterOfMassJacobianTest
extends java.lang.Object


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

Constructor Detail

CenterOfMassJacobianTest

public CenterOfMassJacobianTest()
Method Detail

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)