Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes
shadow_robot::SrSelfTest Class Reference

#include <sr_self_test.hpp>

List of all members.

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::stringjoints_to_test_
 a vector containing all the joints to be tested
boost::ptr_vector< MotorTestmotor_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.

Definition at line 48 of file sr_self_test.hpp.


Member Function Documentation

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

Parameters:
eventcalled from a timer for non-blocking initialisation of the HandCommander.

Definition at line 113 of file sr_self_test.cpp.

Definition at line 50 of file sr_self_test.hpp.

Definition at line 55 of file sr_self_test.hpp.

Initialises the map safe_targets_.

Definition at line 328 of file sr_self_test.cpp.

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

Parameters:
joint_namethe joint we're going to move.

Definition at line 235 of file sr_self_test.cpp.

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

Parameters:
statuscontains the test result

Definition at line 170 of file sr_self_test.cpp.

Add some services to be checked for existence.

Definition at line 97 of file sr_self_test.cpp.

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_nameThe name of the joint we're going to move.

Definition at line 266 of file sr_self_test.cpp.


Member Data Documentation

The hand commander is used for getting a list of all controlled joints.

Definition at line 66 of file sr_self_test.hpp.

The index of the current joint being tested (movement)

Definition at line 81 of file sr_self_test.hpp.

a vector containing all the joints to be tested

Definition at line 72 of file sr_self_test.hpp.

const double shadow_robot::SrSelfTest::MAX_MSE_CONST_ = 0.18 [static, private]

The maximum MSE we can accept for the test to succeed.

Definition at line 115 of file sr_self_test.hpp.

boost::ptr_vector<MotorTest> shadow_robot::SrSelfTest::motor_tests_ [private]

a vector containing the test to be run on the motors.

Definition at line 75 of file sr_self_test.hpp.

Definition at line 62 of file sr_self_test.hpp.

Definition at line 61 of file sr_self_test.hpp.

Where the plots of the movements are stored.

Definition at line 117 of file sr_self_test.hpp.

boost::shared_ptr<std::map<std::string, sr_robot_msgs::joint> > shadow_robot::SrSelfTest::safe_targets_ [private]

A map storing the safe targets for the joints (only those different than min)

Definition at line 102 of file sr_self_test.hpp.

True if testing gazebo, false if testing etherCAT hand.

Definition at line 68 of file sr_self_test.hpp.

Timer used to start add_all_movements_tests_ asynchronously.

Definition at line 89 of file sr_self_test.hpp.

std::map<std::string, boost::shared_ptr<TestJointMovement> > shadow_robot::SrSelfTest::test_mvts_ [private]

mapping the joint name to a TestJointMovement

Definition at line 113 of file sr_self_test.hpp.

Definition at line 64 of file sr_self_test.hpp.

boost::shared_ptr<boost::thread> shadow_robot::SrSelfTest::test_thread_ [private]

Thread for running the tests in parallel when doing the tests on real hand.

Definition at line 120 of file sr_self_test.hpp.


The documentation for this class was generated from the following files:


sr_self_test
Author(s): Ugo Cupcic
autogenerated on Fri Aug 21 2015 12:25:57