Go to the documentation of this file.00001 #ifndef KINFAM_TEST_HPP
00002 #define KINFAM_TEST_HPP
00003
00004 #include <cppunit/extensions/HelperMacros.h>
00005 #include <frames.hpp>
00006 #include <joint.hpp>
00007 #include <segment.hpp>
00008 #include <chain.hpp>
00009 #include <tree.hpp>
00010
00011 using namespace KDL;
00012
00013 class KinFamTest : public CppUnit::TestFixture
00014 {
00015 CPPUNIT_TEST_SUITE( KinFamTest);
00016 CPPUNIT_TEST( JointTest );
00017 CPPUNIT_TEST( SegmentTest );
00018 CPPUNIT_TEST( ChainTest );
00019 CPPUNIT_TEST( TreeTest );
00020 CPPUNIT_TEST_SUITE_END();
00021
00022 public:
00023 void setUp();
00024 void tearDown();
00025
00026 void JointTest();
00027 void SegmentTest();
00028 void ChainTest();
00029 void TreeTest();
00030
00031 };
00032
00033 #endif