00001 #ifndef KDL_SOLVER_TEST_HPP
00002 #define KDL_SOLVER_TEST_HPP
00003
00004 #include <cppunit/extensions/HelperMacros.h>
00005
00006 #include <chain.hpp>
00007 #include <chainfksolverpos_recursive.hpp>
00008 #include <chainfksolvervel_recursive.hpp>
00009 #include <chainiksolvervel_pinv.hpp>
00010 #include <chainiksolvervel_pinv_givens.hpp>
00011 #include <chainiksolverpos_nr.hpp>
00012 #include <chainjnttojacsolver.hpp>
00013 #include <chainidsolver_vereshchagin.hpp>
00014
00015 using namespace KDL;
00016
00017 class SolverTest : public CppUnit::TestFixture
00018 {
00019 CPPUNIT_TEST_SUITE( SolverTest);
00020 CPPUNIT_TEST(FkPosAndJacTest );
00021 CPPUNIT_TEST(FkVelAndJacTest );
00022 CPPUNIT_TEST(FkVelAndIkVelTest );
00023 CPPUNIT_TEST(FkPosAndIkPosTest );
00024 CPPUNIT_TEST(VereshchaginTest );
00025 CPPUNIT_TEST_SUITE_END();
00026
00027 public:
00028 void setUp();
00029 void tearDown();
00030
00031 void FkPosAndJacTest();
00032 void FkVelAndJacTest();
00033 void FkVelAndIkVelTest();
00034 void FkPosAndIkPosTest();
00035 void VereshchaginTest();
00036
00037 private:
00038
00039 Chain chain1,chain2,chain3,chain4, chaindyn;
00040
00041 void FkPosAndJacLocal(Chain& chain,ChainFkSolverPos& fksolverpos,ChainJntToJacSolver& jacsolver);
00042 void FkVelAndJacLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainJntToJacSolver& jacsolver);
00043 void FkVelAndIkVelLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainIkSolverVel& iksolvervel);
00044 void FkPosAndIkPosLocal(Chain& chain,ChainFkSolverPos& fksolverpos, ChainIkSolverPos& iksolverpos);
00045
00046 };
00047 #endif
00048
