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_pinv_nso.hpp>
00012 #include <chainiksolvervel_wdls.hpp>
00013 #include <chainiksolverpos_nr.hpp>
00014 #include <chainiksolverpos_lma.hpp>
00015 #include <chainiksolverpos_nr_jl.hpp>
00016 #include <chainjnttojacsolver.hpp>
00017 #include <chainjnttojacdotsolver.hpp>
00018 #include <chainidsolver_vereshchagin.hpp>
00019 #include <chainidsolver_recursive_newton_euler.hpp>
00020 #include <chaindynparam.hpp>
00021 #include <chainidsolver_recursive_newton_euler.hpp>
00022 #include <chainfdsolver_recursive_newton_euler.hpp>
00023 #include <utilities/ldl_solver_eigen.hpp>
00024 
00025 
00026 using namespace KDL;
00027 
00028 class SolverTest : public CppUnit::TestFixture
00029 {
00030     CPPUNIT_TEST_SUITE( SolverTest);
00031     CPPUNIT_TEST(FkPosAndJacTest );
00032     CPPUNIT_TEST(FkVelAndJacTest );
00033     CPPUNIT_TEST(FkVelAndIkVelTest );
00034     CPPUNIT_TEST(FkPosAndIkPosTest );
00035     CPPUNIT_TEST(VereshchaginTest );
00036     CPPUNIT_TEST(IkSingularValueTest );
00037     CPPUNIT_TEST(IkVelSolverWDLSTest );
00038     CPPUNIT_TEST(FkPosVectTest );
00039     CPPUNIT_TEST(FkVelVectTest );
00040     CPPUNIT_TEST(FdSolverDevelopmentTest );
00041     CPPUNIT_TEST(FdSolverConsistencyTest );
00042     CPPUNIT_TEST(LDLdecompTest);
00043     CPPUNIT_TEST(UpdateChainTest );
00044     CPPUNIT_TEST_SUITE_END();
00045 
00046 public:
00047     void setUp();
00048     void tearDown();
00049 
00050     void FkPosAndJacTest();
00051     void FkVelAndJacTest();
00052     void FkVelAndIkVelTest();
00053     void FkPosAndIkPosTest();
00054     void VereshchaginTest();
00055     void IkSingularValueTest() ;
00056     void IkVelSolverWDLSTest();
00057     void FkPosVectTest();
00058     void FkVelVectTest();
00059     void FdSolverDevelopmentTest();
00060     void FdSolverConsistencyTest();
00061     void LDLdecompTest();
00062     void UpdateChainTest();
00063 
00064 private:
00065 
00066   Chain chain1, chain2, chain3, chain4, chaindyn, motomansia10, motomansia10dyn;
00067 
00068     void FkPosAndJacLocal(Chain& chain,ChainFkSolverPos& fksolverpos,ChainJntToJacSolver& jacsolver);
00069     void FkVelAndJacLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainJntToJacSolver& jacsolver);
00070     void FkVelAndIkVelLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainIkSolverVel& iksolvervel);
00071     void FkPosAndIkPosLocal(Chain& chain,ChainFkSolverPos& fksolverpos, ChainIkSolverPos& iksolverpos);
00072 
00073 };
00074 #endif
00075 


orocos_kdl
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autogenerated on Fri Jun 14 2019 19:33:23