artisynth.core.mechmodels

Class PointFrameAttachmentTest

java.lang.Object

maspack.util.UnitTest

artisynth.core.mechmodels.DynamicAttachmentTestBase<PointFrameAttachment>

artisynth.core.mechmodels.PointFrameAttachmentTest

public class PointFrameAttachmentTest
extends DynamicAttachmentTestBase<PointFrameAttachment>

Constructor Summary

Constructors

Constructor and Description
PointFrameAttachmentTest()

Method Summary

Modifier and Type	Method and Description
void	computeMasterForce(VectorNd force, int idx, PointFrameAttachment at) Computes the force for the idx-th master given the current force on the slave component.
void	computeSlavePos(VectorNd pos, PointFrameAttachment at) Computes the position for the slave given the current state of the master components.
void	computeSlaveVel(VectorNd vel, PointFrameAttachment at) Computes the velocity for the slave given the current state of the master components.
PointFrameAttachment	createTestAttachment(int idx) Creates and returns an test attachment, with associated master and slave components, to be used for testing.
static void	main(java.lang.String[] args)

Methods inherited from class artisynth.core.mechmodels.DynamicAttachmentTestBase

numTestAttachments, test, test

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

PointFrameAttachmentTest

public PointFrameAttachmentTest()

Method Detail

computeSlavePos

public void computeSlavePos(VectorNd pos,
                            PointFrameAttachment at)

Description copied from class: DynamicAttachmentTestBase

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

Specified by:

computeSlavePos in class DynamicAttachmentTestBase<PointFrameAttachment>

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 void computeSlaveVel(VectorNd vel,
                            PointFrameAttachment at)

Description copied from class: DynamicAttachmentTestBase

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

Specified by:

computeSlaveVel in class DynamicAttachmentTestBase<PointFrameAttachment>

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,
                               PointFrameAttachment at)

Description copied from class: DynamicAttachmentTestBase

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.

Overrides:

computeMasterForce in class DynamicAttachmentTestBase<PointFrameAttachment>

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

createTestAttachment

public PointFrameAttachment createTestAttachment(int idx)

Description copied from class: DynamicAttachmentTestBase

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 DynamicAttachmentTestBase.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.

Specified by:

createTestAttachment in class DynamicAttachmentTestBase<PointFrameAttachment>

Parameters:

idx - instance number for the attachment to be created.

main

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