1 #ifndef FRAMES_TEST_HPP 2 #define FRAMES_TEST_HPP 4 #include <cppunit/extensions/HelperMacros.h> 14 CPPUNIT_TEST(TestVector2DNorm);
15 CPPUNIT_TEST(TestTwist);
16 CPPUNIT_TEST(TestWrench);
18 CPPUNIT_TEST(TestQuaternion);
20 CPPUNIT_TEST(TestJntArray);
21 CPPUNIT_TEST(TestRotationDiff);
22 CPPUNIT_TEST(TestEuler);
23 CPPUNIT_TEST(TestGetRotAngle);
24 CPPUNIT_TEST_SUITE_END();
31 void TestVector2DNorm();
35 void TestQuaternion();
38 void TestJntArrayWhenEmpty();
39 void TestRotationDiff();
41 void TestGetRotAngle();
44 void TestVector2(
Vector& v);
45 void TestTwist2(
Twist& t);
46 void TestWrench2(
Wrench& w);
47 void TestRotation2(
const Vector& v,
double a,
double b,
double c);
48 void TestOneRotation(
const std::string& msg,
50 const double expectedAngle,
52 void TestArbitraryRotation(
const std::string& msg,
55 const double expectedAngle,
57 void TestRangeArbitraryRotation(
const std::string& msg,
60 void TestOneRotationDiff(
const std::string& msg,
represents rotations in 3 dimensional space.
represents both translational and rotational velocities.
A concrete implementation of a 3 dimensional vector class.
represents both translational and rotational acceleration.