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;
}
