robot::control::kinematics::KinematicsTest Class Reference

Inheritance diagram for robot::control::kinematics::KinematicsTest:

[legend]Collaboration diagram for robot::control::kinematics::KinematicsTest:

[legend]List of all members.

Public Member Functions
	KinematicsTest ()
int	countTestCases () const
void	setUp ()
void	tearDown ()
void	testNoMotion ()
void	testImpossibleMotion ()
void	testLeastNormCriteria ()
Protected Attributes
base::IVector	jt
base::IVector	jt2
base::Vector	alpha
base::Vector	a
base::Vector	d
base::Vector	theta
base::Vector	alpha2
base::Vector	a2
base::Vector	d2
base::Vector	theta2
ref< robot::TestRobot >	robot
ref< robot::TestRobot >	robot2
robot::KinematicChain	chain
robot::KinematicChain	chain2
ref< IKOR >	ikor
ref< OldIKOR >	oldikor
ref< LeastNormIKSolver >	lnsolver
Static Protected Attributes
const Int	dof = 6
const Int	dof2 = 5

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Constructor & Destructor Documentation

robot::control::kinematics::KinematicsTest::KinematicsTest (   )

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Member Function Documentation

int robot::control::kinematics::KinematicsTest::countTestCases (   )  const [inline]

Definition at line 75 of file KinematicsTest.

void robot::control::kinematics::KinematicsTest::setUp (   )

void robot::control::kinematics::KinematicsTest::tearDown (   )

void robot::control::kinematics::KinematicsTest::testImpossibleMotion (   )

void robot::control::kinematics::KinematicsTest::testLeastNormCriteria (   )

void robot::control::kinematics::KinematicsTest::testNoMotion (   )

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Member Data Documentation

base::Vector robot::control::kinematics::KinematicsTest::a [protected]

Definition at line 61 of file KinematicsTest.

base::Vector robot::control::kinematics::KinematicsTest::a2 [protected]

Definition at line 62 of file KinematicsTest.

base::Vector robot::control::kinematics::KinematicsTest::alpha [protected]

Definition at line 61 of file KinematicsTest.

base::Vector robot::control::kinematics::KinematicsTest::alpha2 [protected]

Definition at line 62 of file KinematicsTest.

robot::KinematicChain robot::control::kinematics::KinematicsTest::chain [protected]

Definition at line 65 of file KinematicsTest.

robot::KinematicChain robot::control::kinematics::KinematicsTest::chain2 [protected]

Definition at line 65 of file KinematicsTest.

base::Vector robot::control::kinematics::KinematicsTest::d [protected]

Definition at line 61 of file KinematicsTest.

base::Vector robot::control::kinematics::KinematicsTest::d2 [protected]

Definition at line 62 of file KinematicsTest.

const Int robot::control::kinematics::KinematicsTest::dof = 6 [static, protected]

Definition at line 56 of file KinematicsTest.

const Int robot::control::kinematics::KinematicsTest::dof2 = 5 [static, protected]

Definition at line 57 of file KinematicsTest.

ref<IKOR> robot::control::kinematics::KinematicsTest::ikor [protected]

Definition at line 67 of file KinematicsTest.

base::IVector robot::control::kinematics::KinematicsTest::jt [protected]

Definition at line 60 of file KinematicsTest.

base::IVector robot::control::kinematics::KinematicsTest::jt2 [protected]

Definition at line 60 of file KinematicsTest.

ref<LeastNormIKSolver> robot::control::kinematics::KinematicsTest::lnsolver [protected]

Definition at line 69 of file KinematicsTest.

ref<OldIKOR> robot::control::kinematics::KinematicsTest::oldikor [protected]

Definition at line 68 of file KinematicsTest.

ref<robot::TestRobot> robot::control::kinematics::KinematicsTest::robot [protected]

Definition at line 64 of file KinematicsTest.

ref<robot::TestRobot> robot::control::kinematics::KinematicsTest::robot2 [protected]

Definition at line 64 of file KinematicsTest.

base::Vector robot::control::kinematics::KinematicsTest::theta [protected]

Definition at line 61 of file KinematicsTest.

base::Vector robot::control::kinematics::KinematicsTest::theta2 [protected]

Definition at line 62 of file KinematicsTest.

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The documentation for this class was generated from the following file:

• robot/control/kinematics/KinematicsTest

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