JointControlCommand_Test.cpp File Reference

#include <iostream>
#include <gtest/gtest.h>
#include <boost/shared_ptr.hpp>
#include "robot_instance/RobotInstanceFactory.h"
#include "robot_instance/NodeRegisterManager.h"
#include "robodyn_mechanisms/JointControlCommandGripper.h"
#include "robodyn_mechanisms/JointControlCommandSeriesElastic.h"
#include "robodyn_mechanisms/JointControlCommandWrist.h"
#include "robodyn_mechanisms/JointControlManagerFactory.h"
#include <ros/package.h>

Include dependency graph for JointControlCommand_Test.cpp:

Go to the source code of this file.

Classes
class	JointControlCommandFsmTest
Functions
bool	getBoolParam (std::string paramName, bool &value)
std::string	getControlFile (std::string mechanism)
bool	getDoubleParam (std::string paramName, double &value)
bool	getIntParam (std::string paramName, int &value)
float	getLiveCoeff (std::string coeff)
std::string	getRegisterFile (std::string mechanism)
bool	getStringParam (std::string paramName, std::string &value)
bool	hasLiveCoeff (std::string coeff)
bool	hasParam (std::string paramName)
int	main (int argc, char **argv)
void	setBoolParam (std::string paramName, bool value)
void	setDoubleParam (std::string paramName, double value)
void	setIntParam (std::string paramName, int value)
void	setLiveCoeff (std::string coeff, float value)
void	setStringParam (std::string paramName, std::string value)
	TEST_F (JointControlCommandFsmTest, InitialBootloader)
	TEST_F (JointControlCommandFsmTest, Off)
	TEST_F (JointControlCommandFsmTest, Park)
	TEST_F (JointControlCommandFsmTest, Neutral)
	TEST_F (JointControlCommandFsmTest, Drive)
	TEST_F (JointControlCommandFsmTest, InitialCommandMode)
	TEST_F (JointControlCommandFsmTest, StallMode)
	TEST_F (JointControlCommandFsmTest, MultiLoopStep)
	TEST_F (JointControlCommandFsmTest, MultiLoopSmooth)
	TEST_F (JointControlCommandFsmTest, InitialCalibrationMode)
	TEST_F (JointControlCommandFsmTest, EnableCalibrationModeAndBack)
	TEST_F (JointControlCommandFsmTest, InitToDisableClearFault)
	TEST_F (JointControlCommandFsmTest, EnableClearFaultModeAndBack)
Variables
RobotInstancePtr	instance
std::map< std::string, float >	testLiveCoeffs
ParamMap	testParamMap

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Function Documentation

bool getBoolParam	(	std::string	paramName,
		bool &	value
	)

Definition at line 49 of file JointControlCommand_Test.cpp.

std::string getControlFile

(

std::string

mechanism

)

Definition at line 24 of file JointControlCommand_Test.cpp.

bool getDoubleParam	(	std::string	paramName,
		double &	value
	)

Definition at line 61 of file JointControlCommand_Test.cpp.

bool getIntParam	(	std::string	paramName,
		int &	value
	)

Definition at line 67 of file JointControlCommand_Test.cpp.

float getLiveCoeff

(

std::string

coeff

)

Definition at line 34 of file JointControlCommand_Test.cpp.

std::string getRegisterFile

(

std::string

mechanism

)

Definition at line 19 of file JointControlCommand_Test.cpp.

bool getStringParam	(	std::string	paramName,
		std::string &	value
	)

Definition at line 55 of file JointControlCommand_Test.cpp.

bool hasLiveCoeff

(

std::string

coeff

)

Definition at line 29 of file JointControlCommand_Test.cpp.

bool hasParam

(

std::string

paramName

)

Definition at line 44 of file JointControlCommand_Test.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 799 of file JointControlCommand_Test.cpp.

void setBoolParam	(	std::string	paramName,
		bool	value
	)

Definition at line 73 of file JointControlCommand_Test.cpp.

void setDoubleParam	(	std::string	paramName,
		double	value
	)

Definition at line 83 of file JointControlCommand_Test.cpp.

void setIntParam	(	std::string	paramName,
		int	value
	)

Definition at line 88 of file JointControlCommand_Test.cpp.

void setLiveCoeff	(	std::string	coeff,
		float	value
	)

Definition at line 39 of file JointControlCommand_Test.cpp.

void setStringParam	(	std::string	paramName,
		std::string	value
	)

Definition at line 78 of file JointControlCommand_Test.cpp.

TEST_F	(	JointControlCommandFsmTest	,
		InitialBootloader
	)

Definition at line 191 of file JointControlCommand_Test.cpp.

TEST_F	(	JointControlCommandFsmTest	,
		Off
	)

Definition at line 239 of file JointControlCommand_Test.cpp.

TEST_F	(	JointControlCommandFsmTest	,
		Park
	)

Definition at line 284 of file JointControlCommand_Test.cpp.

TEST_F	(	JointControlCommandFsmTest	,
		Neutral
	)

Todo:

brake should be 0, but temporary fix forces it to be 1

Definition at line 332 of file JointControlCommand_Test.cpp.

TEST_F	(	JointControlCommandFsmTest	,
		Drive
	)

Definition at line 383 of file JointControlCommand_Test.cpp.

TEST_F	(	JointControlCommandFsmTest	,
		InitialCommandMode
	)

Definition at line 435 of file JointControlCommand_Test.cpp.

TEST_F	(	JointControlCommandFsmTest	,
		StallMode
	)

Definition at line 491 of file JointControlCommand_Test.cpp.

TEST_F	(	JointControlCommandFsmTest	,
		MultiLoopStep
	)

Definition at line 535 of file JointControlCommand_Test.cpp.

TEST_F	(	JointControlCommandFsmTest	,
		MultiLoopSmooth
	)

Definition at line 582 of file JointControlCommand_Test.cpp.

TEST_F	(	JointControlCommandFsmTest	,
		InitialCalibrationMode
	)

Definition at line 629 of file JointControlCommand_Test.cpp.

TEST_F	(	JointControlCommandFsmTest	,
		EnableCalibrationModeAndBack
	)

Definition at line 654 of file JointControlCommand_Test.cpp.

TEST_F	(	JointControlCommandFsmTest	,
		InitToDisableClearFault
	)

Definition at line 715 of file JointControlCommand_Test.cpp.

TEST_F	(	JointControlCommandFsmTest	,
		EnableClearFaultModeAndBack
	)

Definition at line 739 of file JointControlCommand_Test.cpp.

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Variable Documentation

RobotInstancePtr instance

Definition at line 17 of file JointControlCommand_Test.cpp.

std::map<std::string, float> testLiveCoeffs

Definition at line 15 of file JointControlCommand_Test.cpp.

ParamMap testParamMap

Definition at line 16 of file JointControlCommand_Test.cpp.