Go to the documentation of this file.00001 #ifndef KDL_TREE_INV_DYN_TEST_HPP
00002 #define KDL_TREE_INV_DYN_TEST_HPP
00003
00004 #include <cppunit/extensions/HelperMacros.h>
00005
00006 #include <chain.hpp>
00007 #include <tree.hpp>
00008
00009
00010 using namespace KDL;
00011
00012 class TreeInvDynTest : public CppUnit::TestFixture
00013 {
00014 CPPUNIT_TEST_SUITE(TreeInvDynTest);
00015 CPPUNIT_TEST(UpdateTreeTest);
00016 CPPUNIT_TEST(TwoChainsTest);
00017 CPPUNIT_TEST(YTreeTest);
00018 CPPUNIT_TEST_SUITE_END();
00019
00020 public:
00021 void setUp();
00022 void tearDown();
00023
00024 void UpdateTreeTest();
00025 void TwoChainsTest();
00026 void YTreeTest();
00027
00028 private:
00029 Chain chain1,chain2;
00030 Tree tree, ytree;
00031 double m, Iz, L;
00032 };
00033 #endif