framestest.hpp
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00001 #ifndef FRAMES_TEST_HPP
00002 #define FRAMES_TEST_HPP
00003 
00004 #include <cppunit/extensions/HelperMacros.h>
00005 #include <frames.hpp>
00006 #include <jntarray.hpp>
00007 
00008 using namespace KDL;
00009 
00010 class FramesTest : public CppUnit::TestFixture
00011 {
00012     CPPUNIT_TEST_SUITE( FramesTest);
00013     CPPUNIT_TEST(TestVector);
00014     CPPUNIT_TEST(TestTwist);
00015     CPPUNIT_TEST(TestWrench);
00016     CPPUNIT_TEST(TestRotation);
00017     CPPUNIT_TEST(TestQuaternion);
00018     CPPUNIT_TEST(TestFrame);
00019     CPPUNIT_TEST(TestJntArray);
00020     CPPUNIT_TEST(TestRotationDiff);
00021     CPPUNIT_TEST(TestEuler);
00022     CPPUNIT_TEST_SUITE_END();
00023 
00024 public:
00025     void setUp();
00026     void tearDown();
00027 
00028     void TestVector();
00029     void TestTwist();
00030     void TestWrench();
00031     void TestRotation();
00032     void TestQuaternion();
00033     void TestFrame();
00034     void TestJntArray();
00035     void TestJntArrayWhenEmpty();
00036         void TestRotationDiff();
00037         void TestEuler();
00038 
00039 private:
00040     void TestVector2(Vector& v);
00041     void TestTwist2(Twist& t);
00042     void TestWrench2(Wrench& w);
00043     void TestRotation2(const Vector& v,double a,double b,double c);
00044     void TestOneRotation(const std::string& msg,
00045                          const KDL::Rotation& R,
00046                          const double expectedAngle,
00047                          const KDL::Vector& expectedAxis);
00048     void TestArbitraryRotation(const std::string& msg,
00049                                const KDL::Vector& v,
00050                                const double angle,
00051                                const double expectedAngle,
00052                                const KDL::Vector& expectedVector);
00053     void TestRangeArbitraryRotation(const std::string& msg,
00054                                     const KDL::Vector& v,
00055                                     const KDL::Vector& expectedVector);
00056  
00057 };
00058 
00059 #endif
00060 


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