rwsimlibs::test Namespace Reference

Test case library for RobWorkSim. More...

Classes
class	DynamicWorkCellBuilder
	Helper for building Dynamic Workcells. More...
class	EngineTest
	Generic test type for physics engines, which provides a factory for standard tests along with an extension point for user defined tests. More...
class	IntegratorGravityTest
	Test for linear free-falling motion. More...
class	IntegratorRotationTest
	Test for rotational motion. More...
class	IntegratorSpringTest
	Test for the motion when an undamped linear spring is used. More...
class	IntegratorTest
	Common parent class for all integrator tests. More...

Detailed Description

Test case library for RobWorkSim.

Library that defines a standard set of tests that are more or less generic to all engines. The purpose of the library is to make one unified interface for tests, that can be used for multiple purposes:

• Interactive testing in RobWorkStudio. Allows detailed debugging of the internal workings of an engine.
• Automated testing in unit tests. Makes code changes easier, and makes sure that the engines keep functioning as they are supposed to.
• Data output. Makes it possible to automatically generate graphs for documentation purposes.

All of these can be based on one common test definition. In the case of test failures, debugging is much easier as the exact same test can be repeated in interactive mode with advanced debugging facilities.

The library defines an extension point, that makes it possible for individual engines to provide their own engine-specific tests. Users can also define specific tests that fits specific applications.