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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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Add new 3D fixture to fortify existing analytical tests for CalcBiasSpatialAcceleration() #13561

Closed mitiguy closed 2 weeks ago

mitiguy commented 4 years ago

During PR #13453, it was decided that it would be helpful to also include a 3D test, e.g., such as a two-DOF SatelliteTracker that has reasonably difficult (but still analytically tractable) 3D kinematics. Add a 3D fixture and tests to multibody_plant_jacobians_test.cc.

amcastro-tri commented 4 years ago

@mitiguy, I sent you an email with a method I believe allows doing this with AutoDiff. I'll post here if we believe it's good.

jwnimmer-tri commented 2 weeks ago

We should either write the test as part of the feature development because it is surely important, or else just wait to write tests until we encounter a real bug. Closing this as "not planned" -- having "missing unit test" bugs open for years is of no value.