solvertest.hpp
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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 <chainiksolvervel_wdls.hpp>
00012 #include <chainiksolverpos_nr.hpp>
00013 #include <chainjnttojacsolver.hpp>
00014 #include <chainidsolver_vereshchagin.hpp>
00015 
00016 using namespace KDL;
00017 
00018 class SolverTest : public CppUnit::TestFixture
00019 {
00020     CPPUNIT_TEST_SUITE( SolverTest);
00021     CPPUNIT_TEST(FkPosAndJacTest );
00022     CPPUNIT_TEST(FkVelAndJacTest );
00023     CPPUNIT_TEST(FkVelAndIkVelTest );
00024     CPPUNIT_TEST(FkPosAndIkPosTest );
00025     CPPUNIT_TEST(VereshchaginTest );
00026     CPPUNIT_TEST(IkSingularValueTest );
00027     CPPUNIT_TEST(IkVelSolverWDLSTest );
00028     CPPUNIT_TEST_SUITE_END();
00029 
00030 public:
00031     void setUp();
00032     void tearDown();
00033 
00034     void FkPosAndJacTest();
00035     void FkVelAndJacTest();
00036     void FkVelAndIkVelTest();
00037     void FkPosAndIkPosTest();
00038     void VereshchaginTest();
00039     void IkSingularValueTest() ;
00040     void IkVelSolverWDLSTest();
00041 
00042 private:
00043 
00044   Chain chain1,chain2,chain3,chain4, chaindyn,motomansia10;
00045 
00046     void FkPosAndJacLocal(Chain& chain,ChainFkSolverPos& fksolverpos,ChainJntToJacSolver& jacsolver);
00047     void FkVelAndJacLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainJntToJacSolver& jacsolver);
00048     void FkVelAndIkVelLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainIkSolverVel& iksolvervel);
00049     void FkPosAndIkPosLocal(Chain& chain,ChainFkSolverPos& fksolverpos, ChainIkSolverPos& iksolverpos);
00050 
00051 };
00052 #endif
00053 


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14