00001 #ifndef YOU_BOT_BASE_KINEMATICS_TEST_H 00002 #define YOU_BOT_BASE_KINEMATICS_TEST_H 00003 00004 #include <cppunit/TestCase.h> 00005 #include <cppunit/extensions/HelperMacros.h> 00006 00007 #include <iostream> 00008 #include <vector> 00009 #include <signal.h> 00010 #include <boost/ptr_container/ptr_vector.hpp> 00011 #include "youbot/YouBotBase.hpp" 00012 #include "youbot/YouBotManipulator.hpp" 00013 #include "youbot/DataTrace.hpp" 00014 00015 using namespace youbot; 00016 00017 /////////////////////////////////////////////////////////////////////////////// 00018 /// A unit test for the base kinematics 00019 /////////////////////////////////////////////////////////////////////////////// 00020 class YouBotBaseKinematicsTest : public CppUnit::TestFixture { 00021 CPPUNIT_TEST_SUITE(YouBotBaseKinematicsTest); 00022 CPPUNIT_TEST(youBotBaseKinematicsTest); 00023 CPPUNIT_TEST_SUITE_END(); 00024 00025 public: 00026 YouBotBaseKinematicsTest(); 00027 virtual ~YouBotBaseKinematicsTest(); 00028 00029 void setUp(); 00030 void tearDown(); 00031 00032 00033 void youBotBaseKinematicsTest(); 00034 00035 private: 00036 unsigned int overallTime; 00037 unsigned int startTime; 00038 unsigned int updateCycle; 00039 }; 00040 00041 #endif //YOU_BOT_BASE_KINEMATICS_TEST_H
1.6.3