00001 #ifndef JACOBIANDOT_TEST_HPP 00002 #define JACOBIANDOT_TEST_HPP 00003 00004 #include <cppunit/extensions/HelperMacros.h> 00005 #include "chainjnttojacdotsolver.hpp" 00006 #include "frames_io.hpp" 00007 #include "kinfam_io.hpp" 00008 00009 class JacobianDotTest : public CppUnit::TestFixture 00010 { 00011 CPPUNIT_TEST_SUITE( JacobianDotTest); 00012 CPPUNIT_TEST(testD2DiffHybrid); 00013 CPPUNIT_TEST(testD6DiffHybrid); 00014 CPPUNIT_TEST(testKukaDiffHybrid); 00015 00016 CPPUNIT_TEST(testD2DiffInertial); 00017 CPPUNIT_TEST(testD6DiffInertial); 00018 CPPUNIT_TEST(testKukaDiffInertial); 00019 00020 CPPUNIT_TEST(testD2DiffBodyFixed); 00021 CPPUNIT_TEST(testD6DiffBodyFixed); 00022 CPPUNIT_TEST(testKukaDiffBodyFixed); 00023 00024 CPPUNIT_TEST(testD2Symbolic); 00025 00026 CPPUNIT_TEST_SUITE_END(); 00027 00028 public: 00029 void setUp(); 00030 void tearDown(); 00031 00032 void testD2DiffHybrid(); 00033 void testD6DiffHybrid(); 00034 void testKukaDiffHybrid(); 00035 00036 void testD2DiffInertial(); 00037 void testD6DiffInertial(); 00038 void testKukaDiffInertial(); 00039 00040 void testD2DiffBodyFixed(); 00041 void testD6DiffBodyFixed(); 00042 void testKukaDiffBodyFixed(); 00043 00044 void testD2Symbolic(); 00045 }; 00046 00047 #endif