Go to the documentation of this file.00001 #include <iostream>
00002 #include <gtest/gtest.h>
00003 #include "robodyn_controllers/Robot.h"
00004
00005 class RobotTest : public ::testing::Test
00006 {
00007 protected:
00008 virtual void SetUp()
00009 {
00010 rob = new Robot();
00011 }
00012
00013 virtual void TearDown()
00014 {
00015 delete rob;
00016 }
00017
00018 Robot* rob;
00019 };
00020
00021 TEST_F(RobotTest, ExpectedRunTimeExceptions)
00022 {
00023 KDL::Chain mychain;
00024 KDL::Chain mychain2;
00025
00026 EXPECT_THROW(rob->getChain("fromSegment", "toSegment", mychain), std::runtime_error);
00027 EXPECT_THROW(rob->getJointData("fake_joint"), std::runtime_error);
00028 EXPECT_THROW(rob->getJointTraits("fake_segment"), std::runtime_error);
00029 EXPECT_THROW(rob->setJointLimits("fake_joint", 0.0, 0.0), std::runtime_error);
00030 EXPECT_THROW(rob->setJointPosition("fake_joint", 0.0), std::runtime_error);
00031 EXPECT_THROW(rob->getJointPosition("fake_joint"), std::runtime_error);
00032 EXPECT_THROW(rob->setJointVelocity("fake_joint", 0.0), std::runtime_error);
00033 EXPECT_THROW(rob->getJointVelocity("fake_joint"), std::runtime_error);
00034 EXPECT_THROW(rob->setJointTorque("fake_joint", 0.0), std::runtime_error);
00035 }
00036
00037 int main(int argc, char** argv)
00038 {
00039 testing::InitGoogleTest(&argc, argv);
00040 return RUN_ALL_TESTS();
00041 }