Go to the documentation of this file.00001 #ifndef FRAMES_TEST_HPP
00002 #define FRAMES_TEST_HPP
00003
00004 #include <cppunit/extensions/HelperMacros.h>
00005 #include <frames.hpp>
00006 #include <jntarray.hpp>
00007
00008 using namespace KDL;
00009
00010 class FramesTest : public CppUnit::TestFixture
00011 {
00012 CPPUNIT_TEST_SUITE( FramesTest);
00013 CPPUNIT_TEST(TestVector);
00014 CPPUNIT_TEST(TestTwist);
00015 CPPUNIT_TEST(TestWrench);
00016 CPPUNIT_TEST(TestRotation);
00017 CPPUNIT_TEST(TestQuaternion);
00018 CPPUNIT_TEST(TestFrame);
00019 CPPUNIT_TEST(TestJntArray);
00020 CPPUNIT_TEST(TestRotationDiff);
00021 CPPUNIT_TEST(TestEuler);
00022 CPPUNIT_TEST_SUITE_END();
00023
00024 public:
00025 void setUp();
00026 void tearDown();
00027
00028 void TestVector();
00029 void TestTwist();
00030 void TestWrench();
00031 void TestRotation();
00032 void TestQuaternion();
00033 void TestFrame();
00034 void TestJntArray();
00035 void TestJntArrayWhenEmpty();
00036 void TestRotationDiff();
00037 void TestEuler();
00038
00039 private:
00040 void TestVector2(Vector& v);
00041 void TestTwist2(Twist& t);
00042 void TestWrench2(Wrench& w);
00043 void TestRotation2(const Vector& v,double a,double b,double c);
00044 void TestOneRotation(const std::string& msg,
00045 const KDL::Rotation& R,
00046 const double expectedAngle,
00047 const KDL::Vector& expectedAxis);
00048 void TestArbitraryRotation(const std::string& msg,
00049 const KDL::Vector& v,
00050 const double angle,
00051 const double expectedAngle,
00052 const KDL::Vector& expectedVector);
00053 void TestRangeArbitraryRotation(const std::string& msg,
00054 const KDL::Vector& v,
00055 const KDL::Vector& expectedVector);
00056
00057 };
00058
00059 #endif
00060