us.ihmc.utilities.screwTheory
Class GeometricJacobianTest

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

public class GeometricJacobianTest
extends java.lang.Object


Constructor Summary
GeometricJacobianTest()
           
 
Method Summary
 void setUp()
           
 void tearDown()
           
 void testDuindamExample()
          Tests computation of the Jacobian for a simple 2D manipulator, as shown in Duindam - Port-based modeling and control for efficient bipedal robots, p.34 Jacobian was also computed manually using a Matlab script.
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

GeometricJacobianTest

public GeometricJacobianTest()
Method Detail

setUp

public void setUp()
           throws java.lang.Exception
Throws:
java.lang.Exception

tearDown

public void tearDown()
              throws java.lang.Exception
Throws:
java.lang.Exception

testDuindamExample

public void testDuindamExample()
Tests computation of the Jacobian for a simple 2D manipulator, as shown in Duindam - Port-based modeling and control for efficient bipedal robots, p.34 Jacobian was also computed manually using a Matlab script.