waypoints.cpp
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00001 
00008 /*****************************************************************************
00009 ** Includes
00010 *****************************************************************************/
00011 
00012 #include <iostream>
00013 #include <gtest/gtest.h>
00014 #include <ecl/containers/array.hpp>
00015 #include "../../include/ecl/manipulators/waypoint.hpp"
00016 
00017 /*****************************************************************************
00018 ** Using
00019 *****************************************************************************/
00020 
00021 using ecl::Array;
00022 using ecl::JointAngles;
00023 using ecl::WayPoint;
00024 
00025 /*****************************************************************************
00026 ** Tests
00027 *****************************************************************************/
00028 
00029 TEST(WayPointTests,allEggsInOneBasket) {
00030         // Haven't got around to running this properly through gtests yet.
00031         SUCCEED();
00032 }
00033 /*****************************************************************************
00034 ** Main program
00035 *****************************************************************************/
00036 
00037 int main(int argc, char **argv) {
00038 
00039     std::cout << std::endl;
00040     std::cout << "***********************************************************" << std::endl;
00041     std::cout << "                    Constructor" << std::endl;
00042     std::cout << "***********************************************************" << std::endl;
00043     std::cout << std::endl;
00044 
00045     std::cout << "Manual Construction: " << std::endl;
00046     WayPoint<JointAngles> waypoint2(4);
00047     waypoint2.name("Raised Position");
00048     waypoint2.angles() << 1.57, 1.57, 0.00, 0.00;
00049     waypoint2.rates() << 1.0, 1.0, 0.8, 0.8;
00050     waypoint2.accelerations() << 0.9, 0.9, 0.6, 0.6;
00051     waypoint2.nominalRates(1.0);
00052     waypoint2.nominalRates() << 1.0, 1.0, 0.8, 0.8;
00053     std::cout << waypoint2 << std::endl;
00054 
00055     std::cout << "Copy construction" << std::endl;
00056     WayPoint<JointAngles> waypoint3(waypoint2);
00057     std::cout << waypoint3 << std::endl;
00058 
00059     std::cout << std::endl;
00060     std::cout << "***********************************************************" << std::endl;
00061     std::cout << "                      Passed" << std::endl;
00062     std::cout << "***********************************************************" << std::endl;
00063     std::cout << std::endl;
00064 
00065     testing::InitGoogleTest(&argc,argv);
00066     return RUN_ALL_TESTS();
00067 }
00068 
00069 


ecl_manipulators
Author(s): Daniel Stonier (d.stonier@gmail.com)
autogenerated on Thu Jan 2 2014 11:11:43