artisynth.core.mechmodels

Class FrameSpringTest

java.lang.Object

maspack.util.UnitTest

artisynth.core.mechmodels.FrameSpringTest

public class FrameSpringTest
extends UnitTest

Constructor Summary

Constructors

Constructor and Description
FrameSpringTest()

Method Summary

Modifier and Type	Method and Description
MatrixNd	computePosJacobian(Twist velA, Twist velB)
MatrixNd	computeVelJacobian(Twist velA, Twist velB)
static Vector3d	getRQ(RotationMatrix3d R)
static void	main(java.lang.String[] args)
MatrixNd	numericPosJacobian(Twist velA, Twist velB)
MatrixNd	numericVelJacobian(Twist velA, Twist velB)
void	special(Twist velA, Twist velB)
void	test()
void	test(FrameMaterial mat, Twist velA, Twist velB, boolean printData, double errLim)
void	testInitialTDC()

Methods inherited from class maspack.util.UnitTest

check, checkEquals, checkEquals, checkEquals, checkEquals, checkEquals, checkEquals, checkEquals, checkEquals, checkNormedEquals, checkNormedEquals, getSilent, printUsageAndExit, runtest, setSilent

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

FrameSpringTest

public FrameSpringTest()

Method Detail

special

public void special(Twist velA,
                    Twist velB)

numericPosJacobian

public MatrixNd numericPosJacobian(Twist velA,
                                   Twist velB)

computeVelJacobian

public MatrixNd computeVelJacobian(Twist velA,
                                   Twist velB)

computePosJacobian

public MatrixNd computePosJacobian(Twist velA,
                                   Twist velB)

numericVelJacobian

public MatrixNd numericVelJacobian(Twist velA,
                                   Twist velB)

getRQ

public static Vector3d getRQ(RotationMatrix3d R)

test

public void test(FrameMaterial mat,
                 Twist velA,
                 Twist velB,
                 boolean printData,
                 double errLim)

testInitialTDC

public void testInitialTDC()

test

public void test()

Overrides:

test in class UnitTest

main

public static void main(java.lang.String[] args)