us.ihmc.utilities.screwTheory
Class InverseDynamicsCalculatorTest

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

public class InverseDynamicsCalculatorTest
extends java.lang.Object

This currently needs to be here because it uses SCS classes to test the inverse dynamics calculator, and SCS isn't on the IHMCUtilities build path

Author:
Twan Koolen

Constructor Summary
InverseDynamicsCalculatorTest()
           
 
Method Summary
static void createRandomTreeRobotAndSetJointPositionsAndVelocities(Robot robot, java.util.HashMap<RevoluteJoint,PinJoint> jointMap, ReferenceFrame worldFrame, RigidBody elevator, int numberOfJoints, double gravity, boolean useRandomVelocity, boolean useRandomAcceleration, java.util.Random random)
           
 void setUp()
           
 void testChainNoGravity()
           
 void testChainWithGravity()
           
 void testGravityCompensationForChain()
           
 void testOneFreeRigidBody()
           
 void testTreeWithGravity()
           
 void testTreeWithNoGravity()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

InverseDynamicsCalculatorTest

public InverseDynamicsCalculatorTest()
Method Detail

setUp

public void setUp()

testOneFreeRigidBody

public void testOneFreeRigidBody()

testChainNoGravity

public void testChainNoGravity()

testTreeWithNoGravity

public void testTreeWithNoGravity()

testTreeWithGravity

public void testTreeWithGravity()

testGravityCompensationForChain

public void testGravityCompensationForChain()

testChainWithGravity

public void testChainWithGravity()

createRandomTreeRobotAndSetJointPositionsAndVelocities

public static void createRandomTreeRobotAndSetJointPositionsAndVelocities(Robot robot,
                                                                          java.util.HashMap<RevoluteJoint,PinJoint> jointMap,
                                                                          ReferenceFrame worldFrame,
                                                                          RigidBody elevator,
                                                                          int numberOfJoints,
                                                                          double gravity,
                                                                          boolean useRandomVelocity,
                                                                          boolean useRandomAcceleration,
                                                                          java.util.Random random)