00001 #ifndef YOU_BOT_GRIPPER_TEST_H 00002 #define YOU_BOT_GRIPPER_TEST_H 00003 00004 #include <cppunit/TestCase.h> 00005 #include <cppunit/extensions/HelperMacros.h> 00006 00007 #include <iostream> 00008 #include <vector> 00009 #include <signal.h> 00010 #include <boost/ptr_container/ptr_vector.hpp> 00011 #include <youbot_driver/youbot/YouBotBase.hpp> 00012 #include <youbot_driver/youbot/YouBotManipulator.hpp> 00013 #include <youbot_driver/youbot/GripperDataTrace.hpp> 00014 00015 using namespace youbot; 00016 00020 class YouBotGripperTest : public CppUnit::TestFixture 00021 { 00022 CPPUNIT_TEST_SUITE(YouBotGripperTest); 00023 CPPUNIT_TEST(youBotGripperTest);CPPUNIT_TEST_SUITE_END() 00024 ; 00025 00026 public: 00027 YouBotGripperTest(); 00028 virtual ~YouBotGripperTest(); 00029 00030 void setUp(); 00031 void tearDown(); 00032 00033 void youBotGripperTest(); 00034 00035 private: 00036 unsigned int overallTime; 00037 unsigned int startTime; 00038 unsigned int updateCycle; 00039 const int dof; 00040 }; 00041 00042 #endif //YOU_BOT_GRIPER_TEST_H