artisynth.core.mechmodels

Class DynamicAttachmentTestBase<C extends DynamicAttachment>

java.lang.Object

maspack.util.UnitTest

artisynth.core.mechmodels.DynamicAttachmentTestBase<C>

Direct Known Subclasses:

DirectorFrameAttachmentTest, FrameNodeNodeAttachmentTest, NodeFrameNodeAttachmentTest, PointFem3dAttachmentTest, PointFrameAttachmentTest, PointParticleAttachmentTest

public abstract class DynamicAttachmentTestBase<C extends DynamicAttachment>
extends UnitTest

Constructor Summary

Constructors

Constructor and Description
DynamicAttachmentTestBase()

Method Summary

Modifier and Type	Method and Description
void	computeMasterForce(VectorNd force, int idx, C at) Computes the force for the idx-th master given the current force on the slave component.
abstract void	computeSlavePos(VectorNd pos, C at) Computes the position for the slave given the current state of the master components.
abstract void	computeSlaveVel(VectorNd vel, C at) Computes the velocity for the slave given the current state of the master components.
abstract C	createTestAttachment(int num) Creates and returns an test attachment, with associated master and slave components, to be used for testing.
int	numTestAttachments() Returns the number of test attachments to be created and returned by createTestAttachment(int).
void	test()
void	test(C at)

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

DynamicAttachmentTestBase

public DynamicAttachmentTestBase()

Method Detail

computeSlavePos

public abstract void computeSlavePos(VectorNd pos,
                                     C at)

Computes the position for the slave given the current state of the master components.

Parameters:

pos - returns the computed position. On input, will be set to the position state size of the slave.

at - attachment for which the position is to be computed

computeSlaveVel

public abstract void computeSlaveVel(VectorNd vel,
                                     C at)

Computes the velocity for the slave given the current state of the master components.

Parameters:

vel - returns the computed velocity. On input, will be set to the velocity state size of the slave.

at - attachment for which the velocity is to be computed

computeMasterForce

public void computeMasterForce(VectorNd force,
                               int idx,
                               C at)

Computes the force for the idx-th master given the current force on the slave component. A default implementation of this method works using the GT matrix computed by the attachment. This is acceptable since the GT matrix itself is validated using computeSlaveVel(). However, subclasses can override this method if desired.

Parameters:

force - returns the computed force. On input, will be set to the velocity state size of the master.

idx - index of the master component

at - attachment for which the force is to be computed

numTestAttachments

public int numTestAttachments()

Returns the number of test attachments to be created and returned by createTestAttachment(int). By default this is 1, but test classes can override this to supply a larger number. This might be necessary, for instance, to test attachments with different kinds of master components.

createTestAttachment

public abstract C createTestAttachment(int num)

Creates and returns an test attachment, with associated master and slave components, to be used for testing. The method will be called maxNum times, where maxNum is the value returned by numTestAttachments(), with the parameter num varying from 0 to maxNum-1. This allows the testing application to create different kinds of test attachments, which might be necessary in some situtations.

Parameters:

num - instance number for the attachment to be created.

test

public void test(C at)

test

public void test()

Overrides:

test in class UnitTest