SimbodyMatterSubsystem::calcConstraintAccelerationErrors(). #517
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Previously, SimbodyMatterSubsystemRep had an operator calcConstraintAccelerationErrors(), but there was no related operators for use by users. This commit introduces such an operator. The operator is tested in TestConstraints to ensure it gives results that are consistent with other methods. Fixes simbody#514.
|
|
||
| // The same code should have been executed when using forward | ||
| // dynamics or the operator, so the errors should be exactly the same. | ||
| SimTK_TEST(pvaerrFromOperator.size() == m); |
There was a problem hiding this comment.
This condition is probably too strict. It would be OK if later someone didn't run exactly the same code. I would suggest checking to SignificantReal (1e-14 ish) which is what you get with SimTK_TEST_EQ.
|
Wow -- this looks beautiful, Chris. I really like the comprehensive tests! I had a few minor comments but otherwise this is ready to go in. |
|
Thank you for the quick review. I have addressed both of your comments. |
|
Thank you. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Previously,
SimbodyMatterSubsystemRephad an operatorcalcConstraintAccelerationErrors(), but there was no related operator for useby users. This PR introduces such an operator. The operator is tested
in TestConstraints to ensure it gives results that are consistent with
other methods/operators.
In the doxygen, I stated that the complexity of the operator is O(m+n) This was determined by inspecting the internal documentation for:
SimbodyMatterSubsystemRep::calcConstraintAccelerationErrors()(O(m+n)),SimbodyMatterSubsystemRep::calcBodyAccelerationsFromUDot()(O(nu+nb)), andSimbodyMatterSubsystem::calcQDotDot()(O(n)).Fixes #514.