solvertest.hpp
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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 


orocos_kdl
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autogenerated on Sat Oct 7 2017 03:04:28