us.ihmc.utilities.screwTheory
Class SpatialAccelerationVectorTest
java.lang.Object
us.ihmc.utilities.screwTheory.SpatialMotionVectorTest
us.ihmc.utilities.screwTheory.SpatialAccelerationVectorTest
public class SpatialAccelerationVectorTest
- extends SpatialMotionVectorTest
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
SpatialAccelerationVectorTest
public SpatialAccelerationVectorTest()
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()