Add tests for auto-inertial with explicit mass #1514
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Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
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iche033
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Signed-off-by: Ian Chen <[email protected]> update python test Signed-off-by: Ian Chen <[email protected]> udate api doc for resolving auto inertia Signed-off-by: Ian Chen <[email protected]> Add tests for auto-inertial with explicit mass (#1514) * link_dom test: Fix typo Signed-off-by: Steve Peters <[email protected]> * Test case for auto-inertials with explicit mass Signed-off-by: Steve Peters <[email protected]> --------- Signed-off-by: Steve Peters <[email protected]> update doc add comments Signed-off-by: Ian Chen <[email protected]> add one more test with multiple collisions Signed-off-by: Ian Chen <[email protected]> Update mass expectation in auto-inertial tests The mass is no longer explicitly set in these Link tests, so replace the not-equals expectation with an expectation of what the mass should be. Signed-off-by: Steve Peters <[email protected]> fix build Signed-off-by: Ian Chen <[email protected]> remove empty line Signed-off-by: Ian Chen <[email protected]> remove density warning, fix typo Signed-off-by: Ian Chen <[email protected]> Update multiple-collision test with justification (#1515) Modifies the auto-inertial test with multiple collisions with different densities so that the lumped center of gravity is at the link origin and derives the expected moment of inertia values. Signed-off-by: Steve Peters <[email protected]>
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🎉 New feature
Adds more tests to #1513
Summary
The implementation in #1513 looks correct to me; this just adds a new SDFormat test file and a few more tests.
The new test file test/sdf/inertial_stats_auto_mass.sdf is a variant of test/sdf/inertial_stats_auto.sdf that explicitly sets
//inertial/masswith//inertial/@auto == true. Each of these files contains 4 links, with each link holding a cube-shaped collision geometries symmetrically placed around the origin. The new test file replaces some of the cubes with a pair of equivalent half-cubes, and different density values are tested, while ensuring that the lumped inertial is equivalent between the two files.Test cases for this new file are added to
INTEGRATION_link_domandUNIT_gz_TEST.Test it
INTEGRATION_link_domUNIT_gz_TESTChecklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.