orocos_kdl/html/framestest_8hpp_source.html

#ifndef FRAMES_TEST_HPP

#define FRAMES_TEST_HPP


#include <cppunit/extensions/HelperMacros.h>

#include <frames.hpp>

#include <jntarray.hpp>


using namespace KDL;


class FramesTest : public CppUnit::TestFixture

{

    CPPUNIT_TEST_SUITE( FramesTest);

    CPPUNIT_TEST(TestVector);

    CPPUNIT_TEST(TestVector2DNorm);

    CPPUNIT_TEST(TestTwist);

    CPPUNIT_TEST(TestWrench);

    CPPUNIT_TEST(TestRotation);

    CPPUNIT_TEST(TestQuaternion);

    CPPUNIT_TEST(TestFrame);

    CPPUNIT_TEST(TestJntArray);

    CPPUNIT_TEST(TestRotationDiff);

    CPPUNIT_TEST(TestEuler);

    CPPUNIT_TEST(TestGetRotAngle);

    CPPUNIT_TEST_SUITE_END();


public:

    void setUp();

    void tearDown();


    void TestVector();

    void TestVector2DNorm();

    void TestTwist();

    void TestWrench();

    void TestRotation();

    void TestQuaternion();

    void TestFrame();

    void TestJntArray();

    void TestJntArrayWhenEmpty();

    void TestRotationDiff();

    void TestEuler();

    void TestGetRotAngle();


private:

    void TestVector2(Vector& v);

    void TestTwist2(Twist& t);

    void TestWrench2(Wrench& w);

    void TestRotation2(const Vector& v,double a,double b,double c);

    void TestOneRotation(const std::string& msg,

                         const KDL::Rotation& R,

                         const double expectedAngle,

                         const KDL::Vector& expectedAxis);

    void TestArbitraryRotation(const std::string& msg,

                               const KDL::Vector& v,

                               const double angle,

                               const double expectedAngle,

                               const KDL::Vector& expectedVector);

    void TestRangeArbitraryRotation(const std::string& msg,

                                    const KDL::Vector& v,

                                    const KDL::Vector& expectedVector);

    void TestOneRotationDiff(const std::string& msg,

                             const KDL::Rotation& R_a_b1,

                             const KDL::Rotation& R_a_b2,

                             const KDL::Vector& expectedDiff);


};


#endif