1 #ifndef KDL_SOLVER_TEST_HPP 2 #define KDL_SOLVER_TEST_HPP 4 #include <cppunit/extensions/HelperMacros.h> 31 CPPUNIT_TEST(FkPosAndJacTest );
32 CPPUNIT_TEST(FkVelAndJacTest );
33 CPPUNIT_TEST(FkVelAndIkVelTest );
34 CPPUNIT_TEST(FkPosAndIkPosTest );
35 CPPUNIT_TEST(VereshchaginTest );
36 CPPUNIT_TEST(IkSingularValueTest );
37 CPPUNIT_TEST(IkVelSolverWDLSTest );
38 CPPUNIT_TEST(FkPosVectTest );
39 CPPUNIT_TEST(FkVelVectTest );
40 CPPUNIT_TEST(FdSolverDevelopmentTest );
41 CPPUNIT_TEST(FdSolverConsistencyTest );
42 CPPUNIT_TEST(LDLdecompTest);
43 CPPUNIT_TEST(FdAndVereshchaginSolversConsistencyTest );
44 CPPUNIT_TEST(UpdateChainTest );
45 CPPUNIT_TEST_SUITE_END();
51 void FkPosAndJacTest();
52 void FkVelAndJacTest();
53 void FkVelAndIkVelTest();
54 void FkPosAndIkPosTest();
55 void VereshchaginTest();
56 void IkSingularValueTest() ;
57 void IkVelSolverWDLSTest();
60 void FdSolverDevelopmentTest();
61 void FdSolverConsistencyTest();
63 void FdAndVereshchaginSolversConsistencyTest();
64 void UpdateChainTest();
This abstract class encapsulates the inverse position solver for a KDL::Chain.
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
computing inverse position kinematics using Levenberg-Marquardt.
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain...
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain...