IntegratorRotationTest.hpp File Reference

Test for rotational motion. More...

#include "IntegratorTest.hpp"

Classes
class	IntegratorRotationTest
	Test for rotational motion. More...

Namespaces
	rwsimlibs
	RobWorkSim libraries: Physics engines, plugins, and script interface.
	rwsimlibs::test
	Test case library for RobWorkSim.

Detailed Description

Test for rotational motion.

According to Euler's equations of motion, the rotation around a non-inertial axis of a body will cause a non-linear term in the equations of motion. The simulation is illustrated below:

Motion of rotating body with no gravity.

An analytical solution is NOT given for this type of motion. In this test the focus is on preservation of energy.