text: #include <mass.h>
  
  #define BOOST_AUTO_TEST_MAIN
  #include <boost/test/auto_unit_test.hpp>
  #include <boost/test/unit_test_suite.hpp>
  #include <boost/test/floating_point_comparison.hpp>
  #include <boost/test/test_tools.hpp>
  
  BOOST_AUTO_TEST_SUITE(mass);
  
  BOOST_AUTO_TEST_CASE(capsule)
  {
    float const rho = 1.0f;
    float const R   = 1.0f;
    float const H   = 2.0f;
      
    mass::Properties<float> P = mass::compute_capsule(rho,R,H);
    
    BOOST_CHECK( P.m_m   > 0.0f ); 
    BOOST_CHECK( P.m_Ixx > 0.0f ); 
    BOOST_CHECK( P.m_Iyy > 0.0f ); 
    BOOST_CHECK( P.m_Izz > 0.0f ); 
    BOOST_CHECK_CLOSE( P.m_Ixx, P.m_Izz, 0.01f );
    BOOST_CHECK( P.m_Izz > P.m_Iyy );  
    
    BOOST_CHECK(  P.is_body_space() );  
    BOOST_CHECK( !P.is_model_space() );  
  }
  
  BOOST_AUTO_TEST_SUITE_END();
  