Go to the documentation of this file.00001 #ifndef ACCEPTANCE_TEST_HPP
00002 #define ACCEPTANCE_TEST_HPP
00003
00004 #include <ros/ros.h>
00005 #include <testutil/abst_acceptancetest.hpp>
00006 #include <ros_client.cpp>
00007
00008 #include <vector>
00009
00010 class AcceptanceTestRos : public AbstAcceptanceTest{
00011 public:
00012 AcceptanceTestRos(){};
00013 AcceptanceTestRos(ROS_Client rclient)
00014 : AbstAcceptanceTest(rclient)
00015 {
00016 robot_client.init_action_clients();
00017 }
00018 ~AcceptanceTestRos(){}
00019
00020 void go_initpos(double dtaskduration = 7.0){
00021 robot_client.go_init(dtaskduration);
00022 }
00023
00024 void set_joint_angles(std::string joint_group,
00025 std::vector<double> joint_angles,
00026 std::string msg_tasktitle = "",
00027 double task_duration = 7.0,
00028 bool do_wait = true
00029 ){
00030
00031
00032
00033
00034
00035
00036
00037 ROS_INFO("'''%s'''",msg_tasktitle.c_str());
00038 robot_client.set_joint_angles_deg(joint_group,joint_angles,task_duration,do_wait);
00039 }
00040
00041 void set_pose(std::string joint_group,
00042 std::vector<double> pose,
00043 std::vector<double> rpy,
00044 std::string msg_tasktitle="",
00045 double task_duration=7.0,
00046 bool do_wait=true,
00047 std::string ref_frame_name=""){
00048 ROS_INFO("This method has not been implemented yet.");
00049 }
00050
00051 void set_pose_relative(std::string joint_group,
00052 int dx=0, int dy=0,int dz=0, int dr=0,int dp=0,int dw=0,
00053 std::string msg_tasktitle="",
00054 double task_duration=7.0,
00055 bool do_wait=true){
00056 ROS_INFO("This method has not been implemented yet.");
00057 }
00058
00059 };
00060 #endif