us.ihmc.utilities.screwTheory
Class SpatialAccelerationVectorTest

java.lang.Object
  extended by us.ihmc.utilities.screwTheory.SpatialMotionVectorTest
      extended by us.ihmc.utilities.screwTheory.SpatialAccelerationVectorTest

public class SpatialAccelerationVectorTest
extends SpatialMotionVectorTest


Nested Class Summary
 
Nested classes/interfaces inherited from class us.ihmc.utilities.screwTheory.SpatialMotionVectorTest
SpatialMotionVectorTest.GenericSpatialMotionVector
 
Constructor Summary
SpatialAccelerationVectorTest()
           
 
Method Summary
 void testAccelerationOfPointFixedInBodyFrame()
          Tests centripetal acceleration
 void testAccelerationOfPointFixedInBodyFrameAlternative()
           
 void testAdd()
          Test adding two spatial motion vectors, 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 spatial acceleration vectors expressed in different frames
 void testAddNotRelative()
          You shouldn't be able to add two spatial acceleration vectors if the second is not relative to the first
 void testChangeFrameNoRelativeMotion()
           
 void testChangeFrameUsingNumericalDifferentiationVersusAnalytical()
           
 void testSetBasedOnOriginAcceleration()
           
 void testSetScrew()
          Compares setScrew method in SpatialAccelerationVector to numerical derivative based method
 void testSub()
           
 void testSubFramesDontMatchUp()
           
 void testSubWrongExpressedInFrame()
           
 
Methods inherited from class us.ihmc.utilities.screwTheory.SpatialMotionVectorTest
setUp, testConstructUsingMatrix, testConstructUsingMatrixTooBig, testConstructUsingMatrixTooBig2, testConstructUsingMatrixTooSmall, testInvert, testLimitLinearAndAngularParts
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

SpatialAccelerationVectorTest

public SpatialAccelerationVectorTest()
Method Detail

testChangeFrameUsingNumericalDifferentiationVersusAnalytical

public void testChangeFrameUsingNumericalDifferentiationVersusAnalytical()

testAccelerationOfPointFixedInBodyFrame

public void testAccelerationOfPointFixedInBodyFrame()
Tests centripetal acceleration


testAccelerationOfPointFixedInBodyFrameAlternative

public void testAccelerationOfPointFixedInBodyFrameAlternative()

testAddExpressedInDifferentFrames

public void testAddExpressedInDifferentFrames()
You shouldn't be able to add two spatial acceleration vectors expressed in different frames


testAddNotRelative

public void testAddNotRelative()
You shouldn't be able to add two spatial acceleration vectors if the second is not relative to the first


testAdd

public void testAdd()
Test adding two spatial motion vectors, both expressed in the same reference frame, and the second relative to the first (which is allowed)


testSub

public void testSub()

testSubWrongExpressedInFrame

public void testSubWrongExpressedInFrame()

testSubFramesDontMatchUp

public void testSubFramesDontMatchUp()

testSetScrew

public void testSetScrew()
Compares setScrew method in SpatialAccelerationVector to numerical derivative based method


testSetBasedOnOriginAcceleration

public void testSetBasedOnOriginAcceleration()

testChangeFrameNoRelativeMotion

public void testChangeFrameNoRelativeMotion()