IntegratorGravityTest Class Reference

Test for linear free-falling motion. More...

#include <IntegratorGravityTest.hpp>

Inherits IntegratorTest.

Public Member Functions
	IntegratorGravityTest ()
	Constructor.
virtual	~IntegratorGravityTest ()
	Destructor.
virtual void	run (TestHandle::Ptr handle, const std::string &engineID, const rw::core::PropertyMap &parameters, rw::core::Ptr< rwsim::log::SimulatorLogScope > verbose=NULL)
	Run the test. More...
virtual double	getRunTime () const
	Get the length of the simulation. More...
Public Member Functions inherited from IntegratorTest
	IntegratorTest ()
	Constructor.
virtual	~IntegratorTest ()
	Destructor.
virtual bool	isEngineSupported (const std::string &engineID) const
	Check if engine with specific name is supported by the test. More...
virtual rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	getDWC (const rw::core::PropertyMap &map)
	Get the dynamic workcell used by the test. More...
virtual rw::core::Ptr< rw::core::PropertyMap >	getDefaultParameters () const
	Get the default parameters used by the test. More...
virtual rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	makeIntegratorDWC (const std::string &integratorType="")
	Create new dynamic workcell. More...
Public Member Functions inherited from EngineTest
	EngineTest ()
	Construct new test.
virtual	~EngineTest ()
	Destructor.
virtual TestHandle::Ptr	runThread (const std::string &engineID, const rw::core::PropertyMap &parameters, rw::core::Ptr< rwsim::log::SimulatorLogScope > verbose, rw::core::Ptr< rw::common::ThreadTask > task)
	Run the test in a separate thread. More...
virtual void	run (TestHandle::Ptr handle, const std::string &engineID, const rw::core::PropertyMap &parameters, rw::core::Ptr< rwsim::log::SimulatorLogScope > verbose=NULL)=0
	Run the test. More...
virtual std::vector< rw::core::Ptr< rw::core::PropertyMap > >	getPredefinedParameters () const
	Get a vector of predefined parameters. More...

Additional Inherited Members
Public Types inherited from EngineTest
typedef rw::core::Ptr< EngineTest >	Ptr
	Smart pointer to EngineTest.
typedef std::function< void(double time, bool failed, bool done)>	TimeCallback
	The callback type for the current simulation time.
Protected Types inherited from EngineTest
typedef std::function< void(rw::core::Ptr< const rwsim::dynamics::DynamicWorkCell >, rw::kinematics::State &)>	InitCallback
	Type for a function initializing the state.
typedef std::function< void(const EngineLoopInfo &)>	TestCallback
	Type for a callback function.
Protected Member Functions inherited from EngineTest
void	runEngineLoop (double dt, TestHandle::Ptr handle, const std::string &engineID, const rw::core::PropertyMap &parameters, rw::core::Ptr< rwsim::log::SimulatorLogScope > verbose, TestCallback callback=0, InitCallback initialize=0)
	A standard stepping loop provided as a convenience for test implementations. More...

Detailed Description

Test for linear free-falling motion.

The simulation is illustrated below:

Free-falling motion of a body.

An analytical solution is given for this type of motion, which makes it possible to test how well the engines capture free-falling motion.

Member Function Documentation

getRunTime()

virtual double getRunTime ( ) const

virtual

Get the length of the simulation.

Returns

the length of the simulation.

Implements EngineTest.

run()

virtual void run ( TestHandle::Ptr  handle, const std::string &  engineID, const rw::core::PropertyMap &  parameters, rw::core::Ptr< rwsim::log::SimulatorLogScope >  verbose = NULL  )

virtual

Run the test.

Parameters

handle	[in/out] a TestHandle where the results of the test will be added to.
engineID	[in] the id of the engine to run test for.
parameters	[in] the parameters for the test run.
verbose	[in] (optional) record detailed internal debug information in the engine during simulation.

---

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

• IntegratorGravityTest.hpp