robot/control/kinematics/KinematicsTest

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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: KinematicsTest 1036 2004-02-11 20:48:55Z jungd $
  $Revision: 1.3 $
  $Date: 2004-02-11 15:48:55 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_CONTROL_KINEMATICS_KINEMATICSTEST_
#define _ROBOT_CONTROL_KINEMATICS_KINEMATICSTEST_

#include <cppunit/extensions/HelperMacros.h>

#include <base/Matrix>
#include <base/Expression>
#include <robot/TestRobot>
#include <robot/control/kinematics/LeastNormIKSolver>
#include <robot/control/kinematics/IKOR>
#include <robot/control/kinematics/OldIKOR>


namespace robot {
namespace control {
namespace kinematics {


class KinematicsTest : public CppUnit::TestFixture 
{
  static const Int numOfTests = 1;//4;

  CPPUNIT_TEST_SUITE( KinematicsTest );

  CPPUNIT_TEST( testNoMotion );
  //  CPPUNIT_TEST_EXCEPTION( testImpossibleMotion, std::invalid_argument );
  //  CPPUNIT_TEST( testLeastNormCriteria );

  CPPUNIT_TEST_SUITE_END();

protected:
  static const Int dof = 6;
  static const Int dof2 = 5;

  // D-H param vectors for test robot manipulator
  base::IVector jt, jt2; // joint type
  base::Vector alpha, a, d, theta;
  base::Vector alpha2, a2, d2, theta2;

  ref<robot::TestRobot> robot, robot2;
  robot::KinematicChain chain, chain2;

  ref<IKOR> ikor;
  ref<OldIKOR> oldikor;
  ref<LeastNormIKSolver> lnsolver;

  
public:
  KinematicsTest();

  int countTestCases () const { return numOfTests; }
  
  void setUp();
  void tearDown();
  
  void testNoMotion();
  void testImpossibleMotion();
  void testLeastNormCriteria();

};


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

#endif

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