orocos_kdl
solvertest.hpp
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1 #ifndef KDL_SOLVER_TEST_HPP
2 #define KDL_SOLVER_TEST_HPP
3 
4 #include <cppunit/extensions/HelperMacros.h>
5 
6 #include <chain.hpp>
13 #include <chainiksolverpos_nr.hpp>
14 #include <chainiksolverpos_lma.hpp>
16 #include <chainjnttojacsolver.hpp>
20 #include <chaindynparam.hpp>
25 
26 
27 using namespace KDL;
28 
29 class SolverTest : public CppUnit::TestFixture
30 {
31  CPPUNIT_TEST_SUITE( SolverTest);
32  CPPUNIT_TEST(FkPosAndJacTest );
33  CPPUNIT_TEST(FkVelAndJacTest );
34  CPPUNIT_TEST(FkVelAndIkVelTest );
35  CPPUNIT_TEST(FkPosAndIkPosTest );
36  CPPUNIT_TEST(VereshchaginTest );
37  CPPUNIT_TEST(ExternalWrenchEstimatorTest );
38  CPPUNIT_TEST(IkSingularValueTest );
39  CPPUNIT_TEST(IkVelSolverWDLSTest );
40  CPPUNIT_TEST(FkPosVectTest );
41  CPPUNIT_TEST(FkVelVectTest );
42  CPPUNIT_TEST(FdSolverDevelopmentTest );
43  CPPUNIT_TEST(FdSolverConsistencyTest );
44  CPPUNIT_TEST(LDLdecompTest);
45  CPPUNIT_TEST(FdAndVereshchaginSolversConsistencyTest );
46  CPPUNIT_TEST(UpdateChainTest );
47  CPPUNIT_TEST_SUITE_END();
48 
49 public:
50  void setUp();
51  void tearDown();
52 
53  void FkPosAndJacTest();
54  void FkVelAndJacTest();
55  void FkVelAndIkVelTest();
56  void FkPosAndIkPosTest();
57  void VereshchaginTest();
58  void ExternalWrenchEstimatorTest();
59  void IkSingularValueTest() ;
60  void IkVelSolverWDLSTest();
61  void FkPosVectTest();
62  void FkVelVectTest();
63  void FdSolverDevelopmentTest();
64  void FdSolverConsistencyTest();
65  void LDLdecompTest();
66  void FdAndVereshchaginSolversConsistencyTest();
67  void UpdateChainTest();
68 
69 private:
70 
71  Chain chain1, chain2, chain3, chain4, chaindyn, motomansia10, motomansia10dyn, kukaLWR;
72 
73  void FkPosAndJacLocal(Chain& chain,ChainFkSolverPos& fksolverpos,ChainJntToJacSolver& jacsolver);
74  void FkVelAndJacLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainJntToJacSolver& jacsolver);
75  void FkVelAndIkVelLocal(Chain& chain, ChainFkSolverVel& fksolvervel, ChainIkSolverVel& iksolvervel);
76  void FkPosAndIkPosLocal(Chain& chain,ChainFkSolverPos& fksolverpos, ChainIkSolverPos& iksolverpos);
77 
78 };
79 #endif
80 
chain.hpp
chainexternalwrenchestimator.hpp
chainiksolvervel_pinv_givens.hpp
chainhdsolver_vereshchagin.hpp
KDL::ChainFkSolverVel
This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain.
Definition: chainfksolver.hpp:74
chainfksolverpos_recursive.hpp
chainidsolver_recursive_newton_euler.hpp
KDL::ChainFkSolverPos
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain.
Definition: chainfksolver.hpp:41
KDL
Definition: kukaLWR_DHnew.cpp:25
chaindynparam.hpp
ldl_solver_eigen.hpp
chainiksolverpos_lma.hpp
computing inverse position kinematics using Levenberg-Marquardt.
chainiksolverpos_nr.hpp
SolverTest
Definition: solvertest.hpp:29
chainiksolvervel_pinv_nso.hpp
chainiksolverpos_nr_jl.hpp
chainfdsolver_recursive_newton_euler.hpp
chainfksolvervel_recursive.hpp
chainiksolvervel_wdls.hpp
chainiksolvervel_pinv.hpp
chainjnttojacdotsolver.hpp
KDL::ChainIkSolverVel
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Definition: chainiksolver.hpp:66
chainjnttojacsolver.hpp
SolverTest::motomansia10dyn
Chain motomansia10dyn
Definition: solvertest.hpp:71
KDL::ChainJntToJacSolver
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:38
KDL::ChainIkSolverPos
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition: chainiksolver.hpp:42
KDL::Chain
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
Definition: chain.hpp:35