treeinvdyntest.hpp
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1 #ifndef KDL_TREE_INV_DYN_TEST_HPP
2 #define KDL_TREE_INV_DYN_TEST_HPP
3 
4 #include <cppunit/extensions/HelperMacros.h>
5 
6 #include <chain.hpp>
7 #include <tree.hpp>
8 
9 
10 using namespace KDL;
11 
12 class TreeInvDynTest : public CppUnit::TestFixture
13 {
14  CPPUNIT_TEST_SUITE(TreeInvDynTest);
15  CPPUNIT_TEST(UpdateTreeTest);
16  CPPUNIT_TEST(TwoChainsTest);
17  CPPUNIT_TEST(YTreeTest);
18  CPPUNIT_TEST_SUITE_END();
19 
20 public:
21  void setUp();
22  void tearDown();
23 
24  void UpdateTreeTest();
25  void TwoChainsTest();
26  void YTreeTest();
27 
28 private:
29  Chain chain1,chain2;
30  Tree tree, ytree;
31  double m, Iz, L;
32 };
33 #endif
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
Definition: chain.hpp:35
This class encapsulates a tree kinematic interconnection structure. It is built out of segments...
Definition: tree.hpp:99


orocos_kdl
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autogenerated on Sun Nov 22 2020 03:16:44