Go to the documentation of this file.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