#include <sr_self_test.hpp>

Public Member Functions
void	checkTest ()
void	checkTestAsync ()
	SrSelfTest (bool simulated, const std::string &ns="")
	~SrSelfTest ()
Private Member Functions
void	add_all_movements_tests_ (const ros::TimerEvent &event)
void	init_safe_targets_ ()
	Initialises the map safe_targets_.
void	send_safe_target_ (std::string joint_name)
void	test_movement_ (diagnostic_updater::DiagnosticStatusWrapper &status)
void	test_services_ ()
	Add some services to be checked for existence.
void	update_safe_targets_ (std::string joint_name)
Private Attributes
boost::shared_ptr < shadowrobot::HandCommander >	hand_commander_
	The hand commander is used for getting a list of all controlled joints.
size_t	index_joints_to_test_
	The index of the current joint being tested (movement)
std::vector< std::string >	joints_to_test_
	a vector containing all the joints to be tested
boost::ptr_vector< MotorTest >	motor_tests_
	a vector containing the test to be run on the motors.
ros::NodeHandle	nh_
ros::NodeHandle	nh_tilde_
std::string	path_to_plots_
	Where the plots of the movements are stored.
boost::shared_ptr< std::map < std::string, sr_robot_msgs::joint > >	safe_targets_
	A map storing the safe targets for the joints (only those different than min)
bool	simulated_
	True if testing gazebo, false if testing etherCAT hand.
ros::Timer	test_movement_timer_
	Timer used to start add_all_movements_tests_ asynchronously.
std::map< std::string, boost::shared_ptr < TestJointMovement > >	test_mvts_
	mapping the joint name to a TestJointMovement
shadow_robot::SrTestRunner	test_runner_
boost::shared_ptr< boost::thread >	test_thread_
	Thread for running the tests in parallel when doing the tests on real hand.
Static Private Attributes
static const double	MAX_MSE_CONST_ = 0.18
	The maximum MSE we can accept for the test to succeed.

Detailed Description

Definition at line 45 of file sr_self_test.hpp.

Constructor & Destructor Documentation

shadow_robot::SrSelfTest::SrSelfTest	(	bool	simulated,
		const std::string &	ns = `""`
	)

Definition at line 35 of file sr_self_test.cpp.

shadow_robot::SrSelfTest::~SrSelfTest ( ) [inline]

Definition at line 48 of file sr_self_test.hpp.

Member Function Documentation

void shadow_robot::SrSelfTest::add_all_movements_tests_ ( const ros::TimerEvent & event ) [private]

A method which adds a movement test for each of the fingers.

Parameters:

event called from a timer for non-blocking initialisation of the HandCommander.

Definition at line 113 of file sr_self_test.cpp.

void shadow_robot::SrSelfTest::checkTest ( ) [inline]

Definition at line 50 of file sr_self_test.hpp.

void shadow_robot::SrSelfTest::checkTestAsync ( ) [inline]

Definition at line 55 of file sr_self_test.hpp.

void shadow_robot::SrSelfTest::init_safe_targets_ ( ) [private]

Initialises the map safe_targets_.

Definition at line 328 of file sr_self_test.cpp.

void shadow_robot::SrSelfTest::send_safe_target_ ( std::string joint_name ) [private]

Sends a "safe target" to all the joints: we want to avoid the collisions when running the movement tests.

Parameters:

joint_name the joint we're going to move.

Definition at line 235 of file sr_self_test.cpp.

void shadow_robot::SrSelfTest::test_movement_ ( diagnostic_updater::DiagnosticStatusWrapper & status ) [private]

Tests the movement of one finger and update the test result.

Parameters:

status contains the test result

Definition at line 170 of file sr_self_test.cpp.

void shadow_robot::SrSelfTest::test_services_ ( ) [private]

Add some services to be checked for existence.

Definition at line 97 of file sr_self_test.cpp.

void shadow_robot::SrSelfTest::update_safe_targets_ ( std::string joint_name ) [private]

Updates the map safe_targets_ based on the joint we're going to move. For example ??J4 safe values are different depending on which joint 4 has been moved already.

Parameters:

joint_name The name of the joint we're going to move.

Definition at line 266 of file sr_self_test.cpp.