Start work on inverse dynamics test.

drake/systems/plants/test/rigid_body_tree/CMakeLists.txt

@@ -1,11 +1,15 @@
 pods_find_pkg_config(bullet)
 
 if(bullet_FOUND)
-  add_executable(rbt_collisions_test rbt_collisions_test.cc)
+  add_executable(rbt_collisions_test rbt_collisions_test.cc rigid_body_tree_inverse_dynamics_test.cc)
   target_link_libraries(rbt_collisions_test drakeRBM ${GTEST_BOTH_LIBRARIES})
   drake_add_test(NAME rbt_collisions_test COMMAND rbt_collisions_test)
 endif()
 
 add_executable(rigid_body_tree_test rigid_body_tree_test.cc)
 target_link_libraries(rigid_body_tree_test drakeRBSystem ${GTEST_BOTH_LIBRARIES})
 drake_add_test(NAME rigid_body_tree_test COMMAND rigid_body_tree_test)
+
+add_executable(rigid_body_tree_inverse_dynamics_test rigid_body_tree_inverse_dynamics_test.cc)
+target_link_libraries(rigid_body_tree_inverse_dynamics_test drakeRBSystem ${GTEST_BOTH_LIBRARIES})
+drake_add_test(NAME rigid_body_tree_inverse_dynamics_test COMMAND rigid_body_tree_inverse_dynamics_test)

drake/systems/plants/test/rigid_body_tree/rigid_body_tree_inverse_dynamics_test.cc

@@ -0,0 +1,46 @@
+#include <iostream>
+
+#include <gtest/gtest.h>
+
+#include "drake/common/eigen_types.h"
+#include "drake/math/autodiff.h"
+#include "drake/math/roll_pitch_yaw.h"
+#include "drake/common/drake_path.h"
+#include "drake/systems/plants/parser_model_instance_id_table.h"
+#include "drake/systems/plants/parser_urdf.h"
+#include "drake/systems/plants/RigidBodyTree.h"
+
+namespace drake {
+namespace systems {
+namespace plants {
+namespace test {
+namespace {
+
+using drake::parsers::ModelInstanceIdTable;
+
+class RigidBodyTreeInverseDynamicsTest : public ::testing::Test {
+ protected:
+  virtual void SetUp() {
+    tree.reset(new RigidBodyTree());
+    std::string kAtlasUrdf =
+        drake::GetDrakePath() + "/examples/Atlas/urdf/atlas_convex_hull.urdf";
+    drake::parsers::urdf::AddModelInstanceFromUrdfFile(
+        kAtlasUrdf, DrakeJoint::ROLLPITCHYAW,
+        nullptr /* weld_to_frame */, tree.get());
+  }
+
+ public:
+  // TODO(amcastro-tri): A stack object here (preferable to a pointer)
+  // generates build issues on Windows platforms. See git-hub issue #1854.
+  std::unique_ptr<RigidBodyTree> tree;
+};
+
+TEST_F(RigidBodyTreeInverseDynamicsTest, TestAccelerationJacobianIsMassMatrix) {
+  drake::math::initializeAutoDiff(q);
+}
+
+}  // namespace
+}  // namespace test
+}  // namespace plants
+}  // namespace systems
+}  // namespace drake