- nextSpatialVector
Generates a random spatial vector. spatialVectori=0,2 ∈ [- angularPartMinMax; angularPartMinMax].
sp
- nextTwist
Generates a random twist. twisti=0,2 ∈ [- angularPartMinMax; angularPartMinMax].
twisti=3,5 ∈ [- lin
- checkEigenValuesRealAndPositive
- nextMomentum
Generates a random momentum. momentumi=0,2 ∈ [- angularPartMinMax; angularPartMinMax].
momentumi=3,5
- nextMovingReferenceFrame
Generates a moving reference frame with random transform and twist to world
frame.
- nextMovingReferenceFrameTree
Creates a tree structure of 20 random moving reference frames start off
ReferenceFrame#getWorldFrame
- nextSpatialAcceleration
Generates a random spatial acceleration vector. spatialAccelerationVectori=0,2 ∈ [- angularPartMinMa
- nextSpatialInertia
Generates a random spatial inertia matrix. mass ∈ [0; massMax]
massMomemtOfInertia(i, i) ∈ [0; inert
- nextSymmetricPositiveDefiniteMatrix3D
Generates a random symmetric matrix 3D which eigen values are all real and
strictly positive.
- nextVector3DArray
Generates an array filled with random vectors with fixed length.
- nextWrench
Generates a random wrench. wrenchi=0,2 ∈ [- angularPartMinMax; angularPartMinMax].
wrenchi=3,5 ∈ [-