00001 #ifndef VELOCITYPROFILETEST_HPP 00002 #define VELOCITYPROFILETEST_HPP 00003 00004 #include <cppunit/extensions/HelperMacros.h> 00005 #include <velocityprofile_trap.hpp> 00006 #include <velocityprofile_traphalf.hpp> 00007 00008 class VelocityProfileTest : public CppUnit::TestFixture 00009 { 00010 CPPUNIT_TEST_SUITE(VelocityProfileTest); 00011 CPPUNIT_TEST(TestTrap_MaxVelocity1); 00012 CPPUNIT_TEST(TestTrap_MaxVelocity2); 00013 CPPUNIT_TEST(TestTrap_MaxVelocity3); 00014 CPPUNIT_TEST(TestTrap_SetDuration1); 00015 00016 CPPUNIT_TEST(TestTrapHalf_SetProfile_Start); 00017 CPPUNIT_TEST(TestTrapHalf_SetProfile_End); 00018 CPPUNIT_TEST(TestTrapHalf_SetDuration_Start); 00019 CPPUNIT_TEST(TestTrapHalf_SetDuration_End); 00020 00021 CPPUNIT_TEST_SUITE_END(); 00022 00023 public: 00024 void setUp(); 00025 void tearDown(); 00026 00027 void TestTrap_MaxVelocity1(); 00028 void TestTrap_MaxVelocity2(); 00029 void TestTrap_MaxVelocity3(); 00030 void TestTrap_SetDuration1(); 00031 00032 void TestTrapHalf_SetProfile_Start(); 00033 void TestTrapHalf_SetProfile_End(); 00034 void TestTrapHalf_SetDuration_Start(); 00035 void TestTrapHalf_SetDuration_End(); 00036 }; 00037 00038 #endif 00039