solvertest.hpp
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00001 #ifndef KDL_SOLVER_TEST_HPP
00002 #define KDL_SOLVER_TEST_HPP
00003 
00004 #include <cppunit/extensions/HelperMacros.h>
00005 
00006 #include <chain.hpp>
00007 #include <chainfksolverpos_recursive.hpp>
00008 #include <chainfksolvervel_recursive.hpp>
00009 #include <chainiksolvervel_pinv.hpp>
00010 #include <chainiksolvervel_pinv_givens.hpp>
00011 #include <chainiksolverpos_nr.hpp>
00012 #include <chainjnttojacsolver.hpp>
00013 #include <chainidsolver_vereshchagin.hpp>
00014 
00015 using namespace KDL;
00016 
00017 class SolverTest : public CppUnit::TestFixture
00018 {
00019     CPPUNIT_TEST_SUITE( SolverTest);
00020     CPPUNIT_TEST(FkPosAndJacTest );
00021     CPPUNIT_TEST(FkVelAndJacTest );
00022     CPPUNIT_TEST(FkVelAndIkVelTest );
00023     CPPUNIT_TEST(FkPosAndIkPosTest );
00024     CPPUNIT_TEST(VereshchaginTest );
00025     CPPUNIT_TEST_SUITE_END();
00026 
00027 public:
00028     void setUp();
00029     void tearDown();
00030 
00031     void FkPosAndJacTest();
00032     void FkVelAndJacTest();
00033     void FkVelAndIkVelTest();
00034     void FkPosAndIkPosTest();
00035     void VereshchaginTest();
00036 
00037 private:
00038 
00039   Chain chain1,chain2,chain3,chain4, chaindyn;
00040 
00041     void FkPosAndJacLocal(Chain& chain,ChainFkSolverPos& fksolverpos,ChainJntToJacSolver& jacsolver);
00042     void FkVelAndJacLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainJntToJacSolver& jacsolver);
00043     void FkVelAndIkVelLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainIkSolverVel& iksolvervel);
00044     void FkPosAndIkPosLocal(Chain& chain,ChainFkSolverPos& fksolverpos, ChainIkSolverPos& iksolverpos);
00045 
00046 };
00047 #endif
00048 


orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Sat Dec 28 2013 17:17:25