IntegratorSpringTest Class Reference

Test for the motion when an undamped linear spring is used. More...

#include <IntegratorSpringTest.hpp>

Inherits IntegratorTest.

Public Member Functions
	IntegratorSpringTest ()
	Constructor.
virtual	~IntegratorSpringTest ()
	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	referencePosition (double t)
	Get analytical reference position. More...
static double	referenceVelocity (double t)
	Get analytical reference velocity. 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 the motion when an undamped linear spring is used.

The simulation is illustrated below:

Animation of undamped spring motion.

An analytical solution is given for this type of motion, which makes it possible to test how well the engines solve for undamped springs.

Member Function Documentation

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.

referencePosition()

static double referencePosition ( double  t )

static

Get analytical reference position.

Parameters

t	[in] the time.

Returns

the reference position.

referenceVelocity()

static double referenceVelocity ( double  t )

static

Get analytical reference velocity.

Parameters

t	[in] the time.

Returns

the reference velocity.

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:

• IntegratorSpringTest.hpp