1 #ifndef KDL_SOLVER_TEST_HPP
2 #define KDL_SOLVER_TEST_HPP
4 #include <cppunit/extensions/HelperMacros.h>
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();
53 void FkPosAndJacTest();
54 void FkVelAndJacTest();
55 void FkVelAndIkVelTest();
56 void FkPosAndIkPosTest();
57 void VereshchaginTest();
58 void ExternalWrenchEstimatorTest();
59 void IkSingularValueTest() ;
60 void IkVelSolverWDLSTest();
63 void FdSolverDevelopmentTest();
64 void FdSolverConsistencyTest();
66 void FdAndVereshchaginSolversConsistencyTest();
67 void UpdateChainTest();