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_pinv_nso.hpp>
00012 #include <chainiksolvervel_wdls.hpp>
00013 #include <chainiksolverpos_nr.hpp>
00014 #include <chainiksolverpos_lma.hpp>
00015 #include <chainiksolverpos_nr_jl.hpp>
00016 #include <chainjnttojacsolver.hpp>
00017 #include <chainidsolver_vereshchagin.hpp>
00018 #include <chainidsolver_recursive_newton_euler.hpp>
00019 #include <chaindynparam.hpp>
00020
00021
00022 using namespace KDL;
00023
00024 class SolverTest : public CppUnit::TestFixture
00025 {
00026 CPPUNIT_TEST_SUITE( SolverTest);
00027 CPPUNIT_TEST(FkPosAndJacTest );
00028 CPPUNIT_TEST(FkVelAndJacTest );
00029 CPPUNIT_TEST(FkVelAndIkVelTest );
00030 CPPUNIT_TEST(FkPosAndIkPosTest );
00031 CPPUNIT_TEST(VereshchaginTest );
00032 CPPUNIT_TEST(IkSingularValueTest );
00033 CPPUNIT_TEST(IkVelSolverWDLSTest );
00034 CPPUNIT_TEST(FkPosVectTest );
00035 CPPUNIT_TEST(FkVelVectTest );
00036 CPPUNIT_TEST_SUITE_END();
00037
00038 public:
00039 void setUp();
00040 void tearDown();
00041
00042 void FkPosAndJacTest();
00043 void FkVelAndJacTest();
00044 void FkVelAndIkVelTest();
00045 void FkPosAndIkPosTest();
00046 void VereshchaginTest();
00047 void IkSingularValueTest() ;
00048 void IkVelSolverWDLSTest();
00049 void FkPosVectTest();
00050 void FkVelVectTest();
00051
00052 private:
00053
00054 Chain chain1,chain2,chain3,chain4, chaindyn,motomansia10;
00055
00056 void FkPosAndJacLocal(Chain& chain,ChainFkSolverPos& fksolverpos,ChainJntToJacSolver& jacsolver);
00057 void FkVelAndJacLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainJntToJacSolver& jacsolver);
00058 void FkVelAndIkVelLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainIkSolverVel& iksolvervel);
00059 void FkPosAndIkPosLocal(Chain& chain,ChainFkSolverPos& fksolverpos, ChainIkSolverPos& iksolverpos);
00060
00061 };
00062 #endif
00063