us.ihmc.utilities.screwTheory
Class RigidBodyInertiaTest

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

public class RigidBodyInertiaTest
extends java.lang.Object


Constructor Summary
RigidBodyInertiaTest()
           
 
Method Summary
 void setUp()
           
 void testChangeFrame()
           
 void testChangeFrameKineticCoEnergyConsistency()
           
 void testComputeKineticCoEnergyNoFrameChange()
           
 void testComputeKineticCoEnergyWithFrameChange()
           
 void testSantiyIfChangeFramePurelyRotational()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

RigidBodyInertiaTest

public RigidBodyInertiaTest()
Method Detail

setUp

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

testComputeKineticCoEnergyNoFrameChange

public void testComputeKineticCoEnergyNoFrameChange()

testComputeKineticCoEnergyWithFrameChange

public void testComputeKineticCoEnergyWithFrameChange()

testChangeFrame

public void testChangeFrame()

testChangeFrameKineticCoEnergyConsistency

public void testChangeFrameKineticCoEnergyConsistency()

testSantiyIfChangeFramePurelyRotational

public void testSantiyIfChangeFramePurelyRotational()