us.ihmc.utilities.test
Class JUnitTools

java.lang.Object
  extended by us.ihmc.utilities.test.JUnitTools

public class JUnitTools
extends java.lang.Object


Method Summary
static void assertDoubleArrayEquals(double[] expectedDoubleArray, double[] actualDoubleArray, double epsilon)
           
static void assertDoubleListMatchesArray(double[] expectedArray, java.util.List<java.lang.Double> actualValues, double delta)
           
static void assertFrameOrientationEquals(FrameOrientation ori1, FrameOrientation ori2, double angleTolerance)
           
static void assertFramePointEquals(FramePoint expected, FramePoint actual, double delta)
           
static void assertFrameVectorEquals(FrameVector expected, FrameVector actual, double delta)
           
static void assertMatrix3dEquals(java.lang.String message, javax.vecmath.Matrix3d expected, javax.vecmath.Matrix3d actual, double delta)
           
static void assertMatrixEquals(org.ejml.data.DenseMatrix64F expected, org.ejml.data.DenseMatrix64F actual, double delta)
           
static void assertMatrixEquals(com.mathworks.jama.Matrix expected, com.mathworks.jama.Matrix actual, double delta)
           
static void assertMatrixEquals(java.lang.String message, org.ejml.data.DenseMatrix64F expected, org.ejml.data.DenseMatrix64F actual, double delta)
           
static void assertMatrixEquals(java.lang.String message, com.mathworks.jama.Matrix expected, com.mathworks.jama.Matrix actual, double delta)
           
static void assertQuaternionsEqual(javax.vecmath.Quat4d expectedQuaternion, javax.vecmath.Quat4d actualQuaternion, double epsilon)
           
static void assertSerializable(java.io.Serializable serializable)
           
static void assertSerializable(java.io.Serializable serializable, boolean testEquals)
           
static void assertSkewSymmetric(javax.vecmath.Matrix3d mat, double epsilon)
          Verifies whether the given matrix is skew-symmetric.
static void assertSpatialForceVectorEquals(SpatialForceVector vector1, SpatialForceVector vector2, double epsilon)
           
static void assertSpatialMotionVectorEquals(SpatialMotionVector vector1, SpatialMotionVector vector2, org.ejml.data.DenseMatrix64F selectionMatrix, double epsilon)
           
static void assertSpatialMotionVectorEquals(SpatialMotionVector vector1, SpatialMotionVector vector2, double epsilon)
           
static void assertTransformEquals(javax.media.j3d.Transform3D expectedTransform, javax.media.j3d.Transform3D actualTransform, double epsilon)
           
static void assertTuple2dEquals(java.lang.String message, javax.vecmath.Tuple2d expected, javax.vecmath.Tuple2d actual, double delta)
           
static void assertTuple2dEquals(javax.vecmath.Tuple2d expected, javax.vecmath.Tuple2d actual, double delta)
           
static void assertTuple3dEquals(java.lang.String message, javax.vecmath.Tuple3d expected, javax.vecmath.Tuple3d actual, double delta)
           
static void assertTuple3dEquals(javax.vecmath.Tuple3d expected, javax.vecmath.Tuple3d actual, double delta)
           
static javax.vecmath.AxisAngle4d computeDifferenceAxisAngle(FrameOrientation initialOrientation, FrameOrientation finalOrientation)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Method Detail

assertTuple3dEquals

public static void assertTuple3dEquals(javax.vecmath.Tuple3d expected,
                                       javax.vecmath.Tuple3d actual,
                                       double delta)

assertTuple3dEquals

public static void assertTuple3dEquals(java.lang.String message,
                                       javax.vecmath.Tuple3d expected,
                                       javax.vecmath.Tuple3d actual,
                                       double delta)

assertTuple2dEquals

public static void assertTuple2dEquals(javax.vecmath.Tuple2d expected,
                                       javax.vecmath.Tuple2d actual,
                                       double delta)

assertTuple2dEquals

public static void assertTuple2dEquals(java.lang.String message,
                                       javax.vecmath.Tuple2d expected,
                                       javax.vecmath.Tuple2d actual,
                                       double delta)

assertMatrixEquals

public static void assertMatrixEquals(com.mathworks.jama.Matrix expected,
                                      com.mathworks.jama.Matrix actual,
                                      double delta)

assertMatrixEquals

public static void assertMatrixEquals(org.ejml.data.DenseMatrix64F expected,
                                      org.ejml.data.DenseMatrix64F actual,
                                      double delta)

assertMatrixEquals

public static void assertMatrixEquals(java.lang.String message,
                                      com.mathworks.jama.Matrix expected,
                                      com.mathworks.jama.Matrix actual,
                                      double delta)

assertMatrixEquals

public static void assertMatrixEquals(java.lang.String message,
                                      org.ejml.data.DenseMatrix64F expected,
                                      org.ejml.data.DenseMatrix64F actual,
                                      double delta)

assertMatrix3dEquals

public static void assertMatrix3dEquals(java.lang.String message,
                                        javax.vecmath.Matrix3d expected,
                                        javax.vecmath.Matrix3d actual,
                                        double delta)

assertSkewSymmetric

public static void assertSkewSymmetric(javax.vecmath.Matrix3d mat,
                                       double epsilon)
Verifies whether the given matrix is skew-symmetric.

Parameters:
mat - matrix to check for skew-symmetry
epsilon - numerical tolerance

assertSpatialMotionVectorEquals

public static void assertSpatialMotionVectorEquals(SpatialMotionVector vector1,
                                                   SpatialMotionVector vector2,
                                                   double epsilon)

assertSpatialMotionVectorEquals

public static void assertSpatialMotionVectorEquals(SpatialMotionVector vector1,
                                                   SpatialMotionVector vector2,
                                                   org.ejml.data.DenseMatrix64F selectionMatrix,
                                                   double epsilon)

assertSpatialForceVectorEquals

public static void assertSpatialForceVectorEquals(SpatialForceVector vector1,
                                                  SpatialForceVector vector2,
                                                  double epsilon)

assertDoubleArrayEquals

public static void assertDoubleArrayEquals(double[] expectedDoubleArray,
                                           double[] actualDoubleArray,
                                           double epsilon)

assertSerializable

public static void assertSerializable(java.io.Serializable serializable)

assertSerializable

public static void assertSerializable(java.io.Serializable serializable,
                                      boolean testEquals)

assertQuaternionsEqual

public static void assertQuaternionsEqual(javax.vecmath.Quat4d expectedQuaternion,
                                          javax.vecmath.Quat4d actualQuaternion,
                                          double epsilon)

assertTransformEquals

public static void assertTransformEquals(javax.media.j3d.Transform3D expectedTransform,
                                         javax.media.j3d.Transform3D actualTransform,
                                         double epsilon)

assertDoubleListMatchesArray

public static void assertDoubleListMatchesArray(double[] expectedArray,
                                                java.util.List<java.lang.Double> actualValues,
                                                double delta)

assertFramePointEquals

public static void assertFramePointEquals(FramePoint expected,
                                          FramePoint actual,
                                          double delta)

assertFrameVectorEquals

public static void assertFrameVectorEquals(FrameVector expected,
                                           FrameVector actual,
                                           double delta)

assertFrameOrientationEquals

public static void assertFrameOrientationEquals(FrameOrientation ori1,
                                                FrameOrientation ori2,
                                                double angleTolerance)

computeDifferenceAxisAngle

public static javax.vecmath.AxisAngle4d computeDifferenceAxisAngle(FrameOrientation initialOrientation,
                                                                   FrameOrientation finalOrientation)