framestest.hpp
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1 #ifndef FRAMES_TEST_HPP
2 #define FRAMES_TEST_HPP
3 
4 #include <cppunit/extensions/HelperMacros.h>
5 #include <frames.hpp>
6 #include <jntarray.hpp>
7 
8 using namespace KDL;
9 
10 class FramesTest : public CppUnit::TestFixture
11 {
12  CPPUNIT_TEST_SUITE( FramesTest);
13  CPPUNIT_TEST(TestVector);
14  CPPUNIT_TEST(TestVector2DNorm);
15  CPPUNIT_TEST(TestTwist);
16  CPPUNIT_TEST(TestWrench);
17  CPPUNIT_TEST(TestRotation);
18  CPPUNIT_TEST(TestQuaternion);
19  CPPUNIT_TEST(TestFrame);
20  CPPUNIT_TEST(TestJntArray);
21  CPPUNIT_TEST(TestRotationDiff);
22  CPPUNIT_TEST(TestEuler);
23  CPPUNIT_TEST(TestGetRotAngle);
24  CPPUNIT_TEST_SUITE_END();
25 
26 public:
27  void setUp();
28  void tearDown();
29 
30  void TestVector();
31  void TestVector2DNorm();
32  void TestTwist();
33  void TestWrench();
34  void TestRotation();
35  void TestQuaternion();
36  void TestFrame();
37  void TestJntArray();
38  void TestJntArrayWhenEmpty();
39  void TestRotationDiff();
40  void TestEuler();
41  void TestGetRotAngle();
42 
43 private:
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,
49  const KDL::Rotation& R,
50  const double expectedAngle,
51  const KDL::Vector& expectedAxis);
52  void TestArbitraryRotation(const std::string& msg,
53  const KDL::Vector& v,
54  const double angle,
55  const double expectedAngle,
56  const KDL::Vector& expectedVector);
57  void TestRangeArbitraryRotation(const std::string& msg,
58  const KDL::Vector& v,
59  const KDL::Vector& expectedVector);
60  void TestOneRotationDiff(const std::string& msg,
61  const KDL::Rotation& R_a_b1,
62  const KDL::Rotation& R_a_b2,
63  const KDL::Vector& expectedDiff);
64 
65 };
66 
67 #endif
68 
void TestVector()
Definition: rframestest.cpp:10
represents rotations in 3 dimensional space.
Definition: frames.hpp:301
void TestRotation()
Definition: rframestest.cpp:73
represents both translational and rotational velocities.
Definition: frames.hpp:720
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
void TestFrame()
represents both translational and rotational acceleration.
Definition: frames.hpp:878


orocos_kdl
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autogenerated on Sun Nov 22 2020 03:16:43