void PoseOperationTest::setUp() { KDL::Joint testJoint = KDL::Joint("TestJoint", KDL::Joint::RotZ, 1, 0, 0.01); KDL::Frame testFrame(KDL::Rotation::RPY(0.0, 0.0, 0.0), KDL::Vector(0.0, -0.4, 0.0)); KDL::Segment testSegment = KDL::Segment("TestSegment", testJoint, testFrame); KDL::RotationalInertia testRotInerSeg(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); //around symmetry axis of rotation double pointMass = 0.25; //in kg KDL::RigidBodyInertia testInerSegment(pointMass, KDL::Vector(0.0, -0.4, 0.0), testRotInerSeg); testSegment.setInertia(testInerSegment); testTree.addSegment(testSegment,"root"); a_segmentState = kdle::SegmentState(); a_jointState = kdle::JointState(); }
int main(int argc, char **argv) { WMScreen *scr; WMPixmap *pixmap; /* Initialize the application */ WMInitializeApplication("Test@eqweq_ewq$eqw", &argc, argv); testUD(); /* * Open connection to the X display. */ dpy = XOpenDisplay(""); if (!dpy) { puts("could not open display"); exit(1); } /* This is used to disable buffering of X protocol requests. * Do NOT use it unless when debugging. It will cause a major * slowdown in your application */ #if 0 XSynchronize(dpy, True); #endif /* * Create screen descriptor. */ scr = WMCreateScreen(dpy, DefaultScreen(dpy)); /* * Loads the logo of the application. */ pixmap = WMCreatePixmapFromFile(scr, "logo.xpm"); /* * Makes the logo be used in standard dialog panels. */ if (pixmap) { WMSetApplicationIconPixmap(scr, pixmap); WMReleasePixmap(pixmap); } /* * Do some test stuff. * * Put the testSomething() function you want to test here. */ testText(scr); testFontPanel(scr); testColorPanel(scr); testTextField(scr); #if 0 testBox(scr); testButton(scr); testColorPanel(scr); testColorWell(scr); testDragAndDrop(scr); testFrame(scr); testGradientButtons(scr); testList(scr); testOpenFilePanel(scr); testProgressIndicator(scr); testPullDown(scr); testScrollView(scr); testSlider(scr); testSplitView(scr); testTabView(scr); testTextField(scr); #endif /* * The main event loop. * */ WMScreenMainLoop(scr); return 0; }