jacobiandottest.hpp
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00001 #ifndef JACOBIANDOT_TEST_HPP
00002 #define JACOBIANDOT_TEST_HPP
00003 
00004 #include <cppunit/extensions/HelperMacros.h>
00005 #include "chainjnttojacdotsolver.hpp"
00006 #include "frames_io.hpp"
00007 #include "kinfam_io.hpp"
00008 
00009 class JacobianDotTest : public CppUnit::TestFixture
00010 {
00011     CPPUNIT_TEST_SUITE( JacobianDotTest);
00012     CPPUNIT_TEST(testD2DiffHybrid);
00013     CPPUNIT_TEST(testD6DiffHybrid);
00014     CPPUNIT_TEST(testKukaDiffHybrid);
00015     
00016     CPPUNIT_TEST(testD2DiffInertial);
00017     CPPUNIT_TEST(testD6DiffInertial);
00018     CPPUNIT_TEST(testKukaDiffInertial);
00019     
00020     CPPUNIT_TEST(testD2DiffBodyFixed);
00021     CPPUNIT_TEST(testD6DiffBodyFixed);
00022     CPPUNIT_TEST(testKukaDiffBodyFixed);
00023     
00024     CPPUNIT_TEST(testD2Symbolic);
00025 
00026     CPPUNIT_TEST_SUITE_END();
00027 
00028 public:
00029     void setUp();
00030     void tearDown();
00031 
00032     void testD2DiffHybrid();
00033     void testD6DiffHybrid();
00034     void testKukaDiffHybrid();
00035 
00036     void testD2DiffInertial();
00037     void testD6DiffInertial();
00038     void testKukaDiffInertial();
00039     
00040     void testD2DiffBodyFixed();
00041     void testD6DiffBodyFixed();
00042     void testKukaDiffBodyFixed();
00043     
00044     void testD2Symbolic();
00045 };
00046 
00047 #endif


orocos_kdl
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autogenerated on Fri Jun 14 2019 19:33:22