jacobiandottest.hpp

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#ifndef JACOBIANDOT_TEST_HPP
#define JACOBIANDOT_TEST_HPP
 
#include <cppunit/extensions/HelperMacros.h>
#include "chainjnttojacdotsolver.hpp"
#include "frames_io.hpp"
#include "kinfam_io.hpp"
 
class JacobianDotTest : public CppUnit::TestFixture
{
    CPPUNIT_TEST_SUITE( JacobianDotTest);
    CPPUNIT_TEST(testD2DiffHybrid);
    CPPUNIT_TEST(testD6DiffHybrid);
    CPPUNIT_TEST(testKukaDiffHybrid);
    
    CPPUNIT_TEST(testD2DiffInertial);
    CPPUNIT_TEST(testD6DiffInertial);
    CPPUNIT_TEST(testKukaDiffInertial);
    
    CPPUNIT_TEST(testD2DiffBodyFixed);
    CPPUNIT_TEST(testD6DiffBodyFixed);
    CPPUNIT_TEST(testKukaDiffBodyFixed);
    
    CPPUNIT_TEST(testD2Symbolic);
 
    CPPUNIT_TEST_SUITE_END();
 
public:
    void setUp();
    void tearDown();
 
    void testD2DiffHybrid();
    void testD6DiffHybrid();
    void testKukaDiffHybrid();
 
    void testD2DiffInertial();
    void testD6DiffInertial();
    void testKukaDiffInertial();
    
    void testD2DiffBodyFixed();
    void testD6DiffBodyFixed();
    void testKukaDiffBodyFixed();
    
    void testD2Symbolic();
};
 
#endif