us.ihmc.utilities.screwTheory
Class TwistTest

java.lang.Object
  extended by us.ihmc.utilities.screwTheory.SpatialMotionVectorTest
      extended by us.ihmc.utilities.screwTheory.TwistTest

public class TwistTest
extends SpatialMotionVectorTest


Nested Class Summary
 
Nested classes/interfaces inherited from class us.ihmc.utilities.screwTheory.SpatialMotionVectorTest
SpatialMotionVectorTest.GenericSpatialMotionVector
 
Constructor Summary
TwistTest()
           
 
Method Summary
 void tearDown()
           
 void testAdd()
          Test adding two twists, both expressed in the same reference frame, and the second relative to the first (which is allowed)
 void testAddExpressedInDifferentFrames()
          You shouldn't be able to add two twists expressed in different frames
 void testAddNotRelative()
          You shouldn't be able to add two twists if the second is not relative to the first
 void testBodyOriginLinearPartInBaseFrameAndAngularVelocity()
           
 void testChangeFrame()
          Test changing frames by comparing the results of changeExpressedInWhatReferenceFrame() with the results of the 'tilde' formula from Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25, lemma 2.8 (b)
 void testChangeFrameSameFrame()
           
 void testConstructionAndGettersAndSetters()
          Basic test of constructor, getters and setters
 void testConstructUsingArray()
          Constructing using a double array
 void testConstructUsingArrayTooBig()
           
 void testConstructUsingArrayTooSmall()
           
 void testCopyConstructor()
          Copy constructor
 void testDefaultConstructor()
          default constructor
 void testDotProduct()
          Dot product
 void testDotProductNotAllowed1()
           
 void testDotProductNotAllowed2()
           
 void testGetMatrix()
           
 void testScrewConstruction()
           
 void testSub()
           
 void testSubFramesDontMatchUp()
           
 void testSubWrongExpressedInFrame()
           
 void testVelocityOfPointConsistency()
           
 
Methods inherited from class us.ihmc.utilities.screwTheory.SpatialMotionVectorTest
setUp, testConstructUsingMatrix, testConstructUsingMatrixTooBig, testConstructUsingMatrixTooBig2, testConstructUsingMatrixTooSmall, testInvert, testLimitLinearAndAngularParts
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

TwistTest

public TwistTest()
Method Detail

tearDown

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

testConstructionAndGettersAndSetters

public void testConstructionAndGettersAndSetters()
Basic test of constructor, getters and setters


testDefaultConstructor

public void testDefaultConstructor()
default constructor


testConstructUsingArray

public void testConstructUsingArray()
Constructing using a double array


testConstructUsingArrayTooSmall

public void testConstructUsingArrayTooSmall()

testConstructUsingArrayTooBig

public void testConstructUsingArrayTooBig()

testCopyConstructor

public void testCopyConstructor()
Copy constructor


testDotProduct

public void testDotProduct()
Dot product


testDotProductNotAllowed1

public void testDotProductNotAllowed1()

testDotProductNotAllowed2

public void testDotProductNotAllowed2()

testAddExpressedInDifferentFrames

public void testAddExpressedInDifferentFrames()
You shouldn't be able to add two twists expressed in different frames


testAddNotRelative

public void testAddNotRelative()
You shouldn't be able to add two twists if the second is not relative to the first


testAdd

public void testAdd()
Test adding two twists, both expressed in the same reference frame, and the second relative to the first (which is allowed)


testSub

public void testSub()

testSubWrongExpressedInFrame

public void testSubWrongExpressedInFrame()

testSubFramesDontMatchUp

public void testSubFramesDontMatchUp()

testChangeFrame

public void testChangeFrame()
Test changing frames by comparing the results of changeExpressedInWhatReferenceFrame() with the results of the 'tilde' formula from Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25, lemma 2.8 (b)


testChangeFrameSameFrame

public void testChangeFrameSameFrame()

testGetMatrix

public void testGetMatrix()

testVelocityOfPointConsistency

public void testVelocityOfPointConsistency()

testBodyOriginLinearPartInBaseFrameAndAngularVelocity

public void testBodyOriginLinearPartInBaseFrameAndAngularVelocity()

testScrewConstruction

public void testScrewConstruction()