test_robot_lib.cpp File Reference

This is a set of unit tests testing the robot libraries. More...

#include "sr_robot_lib/sr_motor_hand_lib.hpp"
#include <gtest/gtest.h>
#include <ros/ros.h>

Include dependency graph for test_robot_lib.cpp:

Go to the source code of this file.

Classes
class	HandLibTest
class	HandLibTestProtected
class	TestHandLib
Defines
#define	COMMAND_TYPE   ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND
#define	error_flag_names   palm_0200_edc_error_flag_names
#define	STATUS_TYPE   ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS
Functions
int	main (int argc, char **argv)
	TEST (SrRobotLib, Initialization)
	TEST (SrRobotLib, UpdateMotor)
	TEST (SrRobotLib, UpdateActuators)
	TEST (SrRobotLib, HumanizeFlags)

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Detailed Description

This is a set of unit tests testing the robot libraries.

Author:

Ugo Cupcic <ugo@shadowrobot.com>

Date:

Wed Jun 22 13:04:41 2011

Copyright 2011 Shadow Robot Company Ltd.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file test_robot_lib.cpp.

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Define Documentation

#define COMMAND_TYPE   ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND

Definition at line 33 of file test_robot_lib.cpp.

#define error_flag_names   palm_0200_edc_error_flag_names

Definition at line 31 of file test_robot_lib.cpp.

#define STATUS_TYPE   ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS

Definition at line 32 of file test_robot_lib.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 434 of file test_robot_lib.cpp.

TEST	(	SrRobotLib	,
		Initialization
	)

Tests the initialization of the hand library.

Definition at line 82 of file test_robot_lib.cpp.

TEST	(	SrRobotLib	,
		UpdateMotor
	)

Tests the update of the hand library.

Definition at line 96 of file test_robot_lib.cpp.

TEST	(	SrRobotLib	,
		UpdateActuators
	)

Tests the update of the actuators which are in the pr2_hardware_interface hw*

Definition at line 159 of file test_robot_lib.cpp.

TEST	(	SrRobotLib	,
		HumanizeFlags
	)

Testing the calibration procedure for a joint having one motor only (FFJ3) Testing the calibration procedure for a joint having calibrating the sensors first and then combining them (FFJ0) Testing the calibration procedure for a compound joint combining the sensors and then calibrating the total (THJ5) Testing the humanization of the flags.

Definition at line 410 of file test_robot_lib.cpp.