Go to the documentation of this file.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 <chainiksolvervel_wdls.hpp>
00012 #include <chainiksolverpos_nr.hpp>
00013 #include <chainjnttojacsolver.hpp>
00014 #include <chainidsolver_vereshchagin.hpp>
00015
00016 using namespace KDL;
00017
00018 class SolverTest : public CppUnit::TestFixture
00019 {
00020 CPPUNIT_TEST_SUITE( SolverTest);
00021 CPPUNIT_TEST(FkPosAndJacTest );
00022 CPPUNIT_TEST(FkVelAndJacTest );
00023 CPPUNIT_TEST(FkVelAndIkVelTest );
00024 CPPUNIT_TEST(FkPosAndIkPosTest );
00025 CPPUNIT_TEST(VereshchaginTest );
00026 CPPUNIT_TEST(IkSingularValueTest );
00027 CPPUNIT_TEST(IkVelSolverWDLSTest );
00028 CPPUNIT_TEST_SUITE_END();
00029
00030 public:
00031 void setUp();
00032 void tearDown();
00033
00034 void FkPosAndJacTest();
00035 void FkVelAndJacTest();
00036 void FkVelAndIkVelTest();
00037 void FkPosAndIkPosTest();
00038 void VereshchaginTest();
00039 void IkSingularValueTest() ;
00040 void IkVelSolverWDLSTest();
00041
00042 private:
00043
00044 Chain chain1,chain2,chain3,chain4, chaindyn,motomansia10;
00045
00046 void FkPosAndJacLocal(Chain& chain,ChainFkSolverPos& fksolverpos,ChainJntToJacSolver& jacsolver);
00047 void FkVelAndJacLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainJntToJacSolver& jacsolver);
00048 void FkVelAndIkVelLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainIkSolverVel& iksolvervel);
00049 void FkPosAndIkPosLocal(Chain& chain,ChainFkSolverPos& fksolverpos, ChainIkSolverPos& iksolverpos);
00050
00051 };
00052 #endif
00053