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 #include <velocityprofile_dirac.hpp> 00008 00009 class VelocityProfileTest : public CppUnit::TestFixture 00010 { 00011 CPPUNIT_TEST_SUITE(VelocityProfileTest); 00012 CPPUNIT_TEST(TestTrap_MaxVelocity1); 00013 CPPUNIT_TEST(TestTrap_MaxVelocity2); 00014 CPPUNIT_TEST(TestTrap_MaxVelocity3); 00015 CPPUNIT_TEST(TestTrap_SetDuration1); 00016 00017 CPPUNIT_TEST(TestTrapHalf_SetProfile_Start); 00018 CPPUNIT_TEST(TestTrapHalf_SetProfile_End); 00019 CPPUNIT_TEST(TestTrapHalf_SetDuration_Start); 00020 CPPUNIT_TEST(TestTrapHalf_SetDuration_End); 00021 00022 CPPUNIT_TEST(TestDirac_SetProfile); 00023 CPPUNIT_TEST(TestDirac_SetProfileDuration); 00024 00025 CPPUNIT_TEST_SUITE_END(); 00026 00027 public: 00028 void setUp(); 00029 void tearDown(); 00030 00031 void TestTrap_MaxVelocity1(); 00032 void TestTrap_MaxVelocity2(); 00033 void TestTrap_MaxVelocity3(); 00034 void TestTrap_SetDuration1(); 00035 00036 void TestTrapHalf_SetProfile_Start(); 00037 void TestTrapHalf_SetProfile_End(); 00038 void TestTrapHalf_SetDuration_Start(); 00039 void TestTrapHalf_SetDuration_End(); 00040 00041 void TestDirac_SetProfile(); 00042 void TestDirac_SetProfileDuration(); 00043 }; 00044 00045 #endif 00046