IntegratorRotationTest Class Reference

Test for rotational motion. More...

#include <IntegratorRotationTest.hpp>

Inherits IntegratorTest.

Public Types
typedef rw::core::Ptr< IntegratorRotationTest >	Ptr
	Smart pointer to IntegratorRotationTest.
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.

Public Member Functions
	IntegratorRotationTest ()
	Constructor.
virtual	~IntegratorRotationTest ()
	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...
virtual rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	makeIntegratorDWC (const std::string &integratorType="")
	Create new dynamic workcell. 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...
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...

Static Public Member Functions
static double	getExpectedEnergy (rw::core::Ptr< const rwsim::dynamics::DynamicWorkCell > dwc)
	Get the expected kinetic energy. More...

Additional Inherited Members
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 rotational motion.

According to Euler's equations of motion, the rotation around a non-inertial axis of a body will cause a non-linear term in the equations of motion. The simulation is illustrated below:

Motion of rotating body with no gravity.

An analytical solution is NOT given for this type of motion. In this test the focus is on preservation of energy.

Member Function Documentation

getExpectedEnergy()

static double getExpectedEnergy ( rw::core::Ptr< const rwsim::dynamics::DynamicWorkCell >  dwc )

static

Get the expected kinetic energy.

Parameters

dwc	[in] the dynamic workcell.

Returns

the energy.

getRunTime()

virtual double getRunTime ( ) const

virtual

Get the length of the simulation.

Returns

the length of the simulation.

Implements EngineTest.

makeIntegratorDWC()

virtual rw::core::Ptr<rwsim::dynamics::DynamicWorkCell> makeIntegratorDWC ( const std::string &  integratorType = "" )

virtual

Create new dynamic workcell.

Parameters

integratorType

[in] (optional) the integrator to use.

Returns

the dynamic workcell.

Reimplemented from IntegratorTest.

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.

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

• IntegratorRotationTest.hpp