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rdModelTestSuite Class Reference

A class for testing the basic functionality of an rdModel instance. More...

#include <rdModelTestSuite.h>

List of all members.

Public Member Functions
bool	Test (rdModel *aModel)
	Run all tests on a model.
bool	TestNumbers (rdModel *aModel)
	Test the various numbers of things in a model.
bool	TestNames (rdModel *aModel)
	Test the names of things in a model.
bool	TestStates (rdModel *aModel)
	Test the methods for setting and getting the states of a model.
bool	TestGravity (rdModel *aModel)
	Test class rdGravity.
bool	TestBodies (rdModel *aModel)
	Test class for bodies.
bool	TestKinematics (rdModel *aModel)
	Test the methods for computing kinematic quantities for a model.
bool	TestLoads (rdModel *aModel)
	Test class Loads.
bool	TestDerivatives (rdModel *aModel)
	Test class Derivatives.
bool	TestMassMatrix (rdModel *aModel)
	Test class rdMassMatrix.
bool	TestJacobian (rdModel *aModel)
	Test the Jocobian methods.
bool	TestOrientationUtilities (rdModel *aModel)
	Test angular conversions.
bool	TestContact (rdModel *aModel)
bool	TestActuation (rdModel *aModel)
bool	TestContacts (rdModel *aModel)
	Test class rdContactForceSet.
bool	TestActuators (rdModel *aModel)
	Test class rdActuatorSet.
Private Attributes
FILE *	_outFPT

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Detailed Description

A class for testing the basic functionality of an rdModel instance.

Author:

Frank C. Anderson, James M. Ziegler

Version:

1.0

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Member Function Documentation

bool rdModelTestSuite::Test (  rdModel *  aModel  )

Run all tests on a model. Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

bool rdModelTestSuite::TestActuators (  rdModel *  aModel  )

Test class rdActuatorSet. Right now these tests don't make use of the model at all; they just test constructing a set of actuators from file and then writing them back out to file. Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

bool rdModelTestSuite::TestBodies (  rdModel *  aModel  )

Test class for bodies. rdModel::getGroundID() rdModel::getMass() rdModel::getInertiaBodyLocal() rdModel::getSystemInertia() Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

bool rdModelTestSuite::TestContacts (  rdModel *  aModel  )

Test class rdContactForceSet. Right now these tests don't make use of the model at all; they just test constructing a set of contacts from file and then writing them back out to file. Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

bool rdModelTestSuite::TestDerivatives (  rdModel *  aModel  )

Test class Derivatives. rdModel::computeAccelerations() rdModel::deriv() Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

bool rdModelTestSuite::TestGravity (  rdModel *  aModel  )

Test class rdGravity. rdModel::getGravity() rdModel::setGravity() Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

bool rdModelTestSuite::TestJacobian (  rdModel *  aModel  )

Test the Jocobian methods. Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

bool rdModelTestSuite::TestKinematics (  rdModel *  aModel  )

Test the methods for computing kinematic quantities for a model. rdModel::getPosition() rdModel::getVelocity() rdModel::getAcceleration() rdModel::getDirectionCosines() rdModel::getAngularVelocity() rdModel::getAngularVelocityBodyLocal() rdModel::getAngularAcceleration() rdModel::getAngularAccelerationBodyLocal() Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

bool rdModelTestSuite::TestLoads (  rdModel *  aModel  )

Test class Loads. rdModel::applyForce() rdModel::getNetAppliedGeneralizedForce() Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

bool rdModelTestSuite::TestMassMatrix (  rdModel *  aModel  )

Test class rdMassMatrix. rdModel::formMassMatrix() Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

bool rdModelTestSuite::TestNames (  rdModel *  aModel  )

Test the names of things in a model. rdModel::getName() rdModel::getBodyName() rdModel::getCoordinateName() rdModel::getSpeedName() rdModel::getActuatorName() rdModel::getControlName() rdModel::getStateName() Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

bool rdModelTestSuite::TestNumbers (  rdModel *  aModel  )

Test the various numbers of things in a model. rdModel::getNX() rdModel::getNQ() rdModel::getNU() rdModel::getNY() rdModel::getNB() rdModel::getNJ() rdModel::getNA() rdModel::getNP() Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

bool rdModelTestSuite::TestOrientationUtilities (  rdModel *  aModel  )

Test angular conversions. rdModel::convertDirectionCosinesToQuaternions() rdModel::convertQuaternionsToDirectionCosines() rdModel::convertDirectionCosinesToAngles() rdModel::convertAnglesToDirectionCosines() rdModel::convertAnglesToQuaternions() rdModel::convertQuaternionsToAngles() rdModel::convertRadiansToDegrees() rdModel::convertDegreesToRadians() Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

bool rdModelTestSuite::TestStates (  rdModel *  aModel  )

Test the methods for setting and getting the states of a model. rdModel::set() rdModel::setTime() rdModel::getTime() rdModel::setTimeNormConstant() rdModel::getTimeNormConstant() rdModel::setControls() rdModel::getControls() rdModel::setInitialStates() rdModel::getInitialStates() rdModel::setStates() rdModel::getStates() rdModel::setConfiguration() rdModel::getCoordinates() rdModel::getSpeeds() rdModel::extractConfiguration() Parameters: aModel  Model on which to test the methods. Returns: False if the test fails in some manner, true otherwise.

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The documentation for this class was generated from the following files:

• rdModelTestSuite.h
• rdModelTestSuite.cpp

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