Cartesian_HybCntrlTest.cpp File Reference

#include <gtest/gtest.h>
#include "robodyn_controllers/Cartesian_HybCntrl.h"

Include dependency graph for Cartesian_HybCntrlTest.cpp:

Go to the source code of this file.

Classes
class	Cartesian_HybCntrlTest
Functions
int	main (int argc, char **argv)
	TEST_F (Cartesian_HybCntrlTest, setGainsTest)
	TEST_F (Cartesian_HybCntrlTest, poseSettingsTest)
	TEST_F (Cartesian_HybCntrlTest, forceControlMapTest)
	TEST_F (Cartesian_HybCntrlTest, sensorForceTest)
	TEST_F (Cartesian_HybCntrlTest, updateTest)

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 269 of file Cartesian_HybCntrlTest.cpp.

TEST_F	(	Cartesian_HybCntrlTest	,
		setGainsTest
	)

Definition at line 17 of file Cartesian_HybCntrlTest.cpp.

TEST_F	(	Cartesian_HybCntrlTest	,
		poseSettingsTest
	)

test setPoseSettings sets appropriate values

test limited velocity works

velocity and acceleration below limit should not change

vel should be velocity limited to 1

rot should be velocity limited to 2

vel should be acceleration limited to 2

rot should be acceleration limited to 3

Definition at line 32 of file Cartesian_HybCntrlTest.cpp.

TEST_F	(	Cartesian_HybCntrlTest	,
		forceControlMapTest
	)

Definition at line 65 of file Cartesian_HybCntrlTest.cpp.

TEST_F	(	Cartesian_HybCntrlTest	,
		sensorForceTest
	)

Definition at line 105 of file Cartesian_HybCntrlTest.cpp.

TEST_F	(	Cartesian_HybCntrlTest	,
		updateTest
	)

initialize everything

create a new force control trajectory

check for appropriate errors

test gain

test gain + integrator

test gain + integrator + derivative

Definition at line 150 of file Cartesian_HybCntrlTest.cpp.