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