kinfamtest.hpp

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#ifndef KINFAM_TEST_HPP
#define KINFAM_TEST_HPP
 
#include <cppunit/extensions/HelperMacros.h>
#include <frames.hpp>
#include <joint.hpp>
#include <segment.hpp>
#include <chain.hpp>
#include <tree.hpp>
 
using namespace KDL;
 
class KinFamTest : public CppUnit::TestFixture
{
    CPPUNIT_TEST_SUITE( KinFamTest);
    CPPUNIT_TEST( JointTest );
    CPPUNIT_TEST( SegmentTest );
    CPPUNIT_TEST( ChainTest );
    CPPUNIT_TEST( TreeTest );
    CPPUNIT_TEST_SUITE_END();
 
public:
    void setUp();
    void tearDown();
 
    void JointTest();
    void SegmentTest();
    void ChainTest();
    void TreeTest();
 
};
 
#endif