Joint_TEST Class Reference

#include <Joint_TEST.hh>

Inheritance diagram for Joint_TEST:

Classes
class	SpawnJointOptions
	Class to hold parameters for spawning joints. More...

Public Member Functions
void	ForceTorque1 (const std::string &_physicsEngine)
	Load example world with a few joints Measure / verify static force torques against analytical answers. More...
void	ForceTorque2 (const std::string &_physicsEngine)
	Load example world with a few joints Measure / verify static force torques against analytical answers. More...
void	GetForceTorqueWithAppliedForce (const std::string &_physicsEngine)
	Load example world with a few joints. More...
void	JointCreationDestructionTest (const std::string &_physicsEngine)
	Create and destroy joints repeatedly, monitors memory usage. More...
void	JointTorqueTest (const std::string &_physicsEngine)
	Create a hinge joint between link and world. More...
virtual void	SetUp ()
physics::JointPtr	SpawnJoint (const std::string &_type, bool _worldChild=false, bool _worldParent=false, common::Time _wait=common::Time(99, 0))
	Spawn a model with a joint connecting to the world. More...
physics::JointPtr	SpawnJoint (const SpawnJointOptions &_opt)
	Spawn a model with a joint connecting to the world. More...
void	SpawnJointRotational (const std::string &_physicsEngine, const std::string &_jointType)
	Spawn model with rotational joints. More...
void	SpawnJointRotationalWorld (const std::string &_physicsEngine, const std::string &_jointType)
	Spawn model with rotational joints. More...
void	SpawnJointTypes (const std::string &_physicsEngine, const std::string &_jointType)
	Spawn model with each type of joint. More...

Protected Member Functions
	Joint_TEST ()

Protected Attributes
std::string	jointType
	Joint type for test. More...
std::string	physicsEngine
	Physics engine for test. More...

Constructor & Destructor Documentation

Joint_TEST::Joint_TEST ( )

inlineprotected

Member Function Documentation

void Joint_TEST::ForceTorque1

(

const std::string &

_physicsEngine

)

Load example world with a few joints Measure / verify static force torques against analytical answers.

Parameters

[in]

_physicsEngine

Type of physics engine to use.

void Joint_TEST::ForceTorque2

(

const std::string &

_physicsEngine

)

Load example world with a few joints Measure / verify static force torques against analytical answers.

Change gravity to tip over the joints. Wait until joint stops are hit and joint motion settles, then check force torques values against analytical values.

Parameters

[in]

_physicsEngine

Type of physics engine to use.

void Joint_TEST::GetForceTorqueWithAppliedForce

(

const std::string &

_physicsEngine

)

Load example world with a few joints.

Servo the joints to a fixed target position using simple PID controller. Measure / verify static force torques against analytical answers.

Parameters

[in]

_physicsEngine

Type of physics engine to use.

void Joint_TEST::JointCreationDestructionTest

(

const std::string &

_physicsEngine

)

Create and destroy joints repeatedly, monitors memory usage.

Parameters

[in]

_physicsEngine

Type of physics engine to use.

void Joint_TEST::JointTorqueTest

(

const std::string &

_physicsEngine

)

Create a hinge joint between link and world.

Apply force and check acceleration against analytical solution.

Parameters

[in]

_physicsEngine

Type of physics engine to use.

virtual void Joint_TEST::SetUp ( )

inlinevirtual

References gzdbg.

physics::JointPtr Joint_TEST::SpawnJoint ( const std::string &  _type, bool  _worldChild = false, bool  _worldParent = false, common::Time  _wait = common::Time(99, 0)  )

inline

Spawn a model with a joint connecting to the world.

The function will wait for duration _wait for the model to spawn and attempt to return a pointer to the spawned joint. This function is not guaranteed to return a valid JointPtr, so the output should be checked.

Parameters

[in]	_type	Type of joint to create.
[in]	_worldChild	Flag to set child link to the world.
[in]	_worldParent	Flag to set parent link to the world.
[in]	_wait	Length of time to wait for model to spawn in order to return Joint pointer.

References Joint_TEST::SpawnJointOptions::type, Joint_TEST::SpawnJointOptions::wait, Joint_TEST::SpawnJointOptions::worldChild, and Joint_TEST::SpawnJointOptions::worldParent.

physics::JointPtr Joint_TEST::SpawnJoint ( const SpawnJointOptions &  _opt )

inline

Spawn a model with a joint connecting to the world.

The function will wait for duration _wait for the model to spawn and attempt to return a pointer to the spawned joint. This function is not guaranteed to return a valid JointPtr, so the output should be checked.

Parameters

[in]

_opt

Options for spawned model and joint.

References Joint_TEST::SpawnJointOptions::axis, Joint_TEST::SpawnJointOptions::childLinkPose, gazebo::physics::get_world(), gazebo::common::Time::GetWallTime(), gzwarn, Joint_TEST::SpawnJointOptions::jointPose, Joint_TEST::SpawnJointOptions::modelPose, gazebo::common::Time::MSleep(), Joint_TEST::SpawnJointOptions::noLinkPose, NULL, Joint_TEST::SpawnJointOptions::parentLinkPose, Joint_TEST::SpawnJointOptions::type, Joint_TEST::SpawnJointOptions::wait, Joint_TEST::SpawnJointOptions::worldChild, Joint_TEST::SpawnJointOptions::worldParent, and gazebo::common::Time::Zero.

void Joint_TEST::SpawnJointRotational	(	const std::string &	_physicsEngine,
		const std::string &	_jointType
	)

Spawn model with rotational joints.

Set velocity on parent and make sure child follows.

Parameters

[in]	_physicsEngine	Type of physics engine to use.
[in]	_jointType	Type of joint to spawn and test.

void Joint_TEST::SpawnJointRotationalWorld	(	const std::string &	_physicsEngine,
		const std::string &	_jointType
	)

Spawn model with rotational joints.

Attach to world and make sure it doesn't fall.

Parameters

[in]	_physicsEngine	Type of physics engine to use.
[in]	_jointType	Type of joint to spawn and test.

void Joint_TEST::SpawnJointTypes	(	const std::string &	_physicsEngine,
		const std::string &	_jointType
	)

Spawn model with each type of joint.

Parameters

[in]	_physicsEngine	Type of physics engine to use.
[in]	_jointType	Type of joint to spawn and test.

Member Data Documentation

std::string Joint_TEST::jointType

protected

Joint type for test.

std::string Joint_TEST::physicsEngine

protected

Physics engine for test.

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

• Joint_TEST.hh