robot/control/kinematics/IKORFullSpaceSolverTest

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/* **-*-c++-*-**************************************************************
  Copyright (C)2003 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.

  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)

  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

  $Id: IKORFullSpaceSolverTest 1078 2004-07-28 19:35:19Z jungd $
  $Revision: 1.2 $
  $Date: 2004-07-28 15:35:19 -0400 (Wed, 28 Jul 2004) $
  $Author: jungd $

****************************************************************************/

#ifndef _ROBOT_CONTROL_KINEMATICS_IKORFULLSPACESOLVERTEST_
#define _ROBOT_CONTROL_KINEMATICS_IKORFULLSPACESOLVERTEST_

#include <cppunit/extensions/HelperMacros.h>

#include <base/Matrix>
#include <robot/control/kinematics/IKORFullSpaceSolver>


namespace robot {
namespace control {
namespace kinematics {


class IKORFullSpaceSolverTest : public CppUnit::TestFixture
{
  static const Int numOfTests = 4;

  CPPUNIT_TEST_SUITE( IKORFullSpaceSolverTest );

  CPPUNIT_TEST( testByHandCase1 );
  CPPUNIT_TEST( testSpecialCase1 );
  CPPUNIT_TEST( testSpecialCase2 );
  CPPUNIT_TEST( testEnduranceExample );

  CPPUNIT_TEST_SUITE_END();

protected:
  ref<IKORFullSpaceSolver> fsp;

public:
  IKORFullSpaceSolverTest();

  int countTestCases () const { return numOfTests; }

  void setUp();
  void tearDown();

  void testByHandCase1();
  void testSpecialCase1();
  void testSpecialCase2();
  void testEnduranceExample();

};


} // namespace kinematics
} // namespace control
} // namespace robot

#endif

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