Go to the source code of this file.
Classes | |
class | Cartesian_HybCntrlTest |
Functions | |
int | main (int argc, char **argv) |
TEST_F (Cartesian_HybCntrlTest, setGainsTest) | |
TEST_F (Cartesian_HybCntrlTest, poseSettingsTest) | |
TEST_F (Cartesian_HybCntrlTest, forceControlMapTest) | |
TEST_F (Cartesian_HybCntrlTest, sensorForceTest) | |
TEST_F (Cartesian_HybCntrlTest, updateTest) |
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 269 of file Cartesian_HybCntrlTest.cpp.
TEST_F | ( | Cartesian_HybCntrlTest | , |
setGainsTest | |||
) |
Definition at line 17 of file Cartesian_HybCntrlTest.cpp.
TEST_F | ( | Cartesian_HybCntrlTest | , |
poseSettingsTest | |||
) |
test setPoseSettings sets appropriate values
test limited velocity works
velocity and acceleration below limit should not change
vel should be velocity limited to 1
rot should be velocity limited to 2
vel should be acceleration limited to 2
rot should be acceleration limited to 3
Definition at line 32 of file Cartesian_HybCntrlTest.cpp.
TEST_F | ( | Cartesian_HybCntrlTest | , |
forceControlMapTest | |||
) |
Definition at line 65 of file Cartesian_HybCntrlTest.cpp.
TEST_F | ( | Cartesian_HybCntrlTest | , |
sensorForceTest | |||
) |
Definition at line 105 of file Cartesian_HybCntrlTest.cpp.
TEST_F | ( | Cartesian_HybCntrlTest | , |
updateTest | |||
) |
initialize everything
create a new force control trajectory
check for appropriate errors
test gain
test gain + integrator
test gain + integrator + derivative
Definition at line 150 of file Cartesian_HybCntrlTest.cpp.