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/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <dart/dynamics/Inertia.hpp>
#include <dart/math/Random.hpp>
#include <gtest/gtest.h>
#include "TestHelpers.hpp"
using namespace dart;
//==============================================================================
TEST(Inertia, Verification)
{
const int numIter = 10;
for (int i = 0; i < numIter; ++i)
{
const auto mass = math::Random::uniform<double>(0.1, 10.0);
const auto com = math::Random::uniform<Eigen::Vector3d>(-5, 5);
const auto i_xx = math::Random::uniform<double>(0.1, 1);
const auto i_yy = math::Random::uniform<double>(0.1, 1);
const auto i_zz = math::Random::uniform<double>(0.1, 1);
const auto i_xy = math::Random::uniform<double>(-1, 1);
const auto i_xz = math::Random::uniform<double>(-1, 1);
const auto i_yz = math::Random::uniform<double>(-1, 1);
const dynamics::Inertia inertia(
mass, com[0], com[1], com[2], i_xx, i_yy, i_zz, i_xy, i_xz, i_yz);
EXPECT_TRUE(inertia.verify());
}
}
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