JointCommandSeriesElastic_Test.cpp File Reference

#include <gtest/gtest.h>
#include <boost/shared_ptr.hpp>
#include <boost/make_shared.hpp>
#include "robot_instance/RobotInstanceFactory.h"
#include "robot_instance/CoeffMapLoader.h"
#include "robodyn_mechanisms/JointCommandSeriesElastic.h"
#include <ros/package.h>

Include dependency graph for JointCommandSeriesElastic_Test.cpp:

Go to the source code of this file.

Classes
class	JointCommandSeriesElasticTest
Functions
float	getBrainstemCoeff (std::string item)
std::string	getCommandFile (std::string mechanism)
float	getFloat (std::string item)
int32_t	getInt32 (std::string item)
float	getMotorCoeff (std::string item)
float	getUInt16 (std::string item)
bool	hasBrainstemCoeff (std::string item)
int	main (int argc, char **argv)
void	setFloat (std::string item, float value)
void	setInt32 (std::string item, int32_t value)
void	setUInt16 (std::string item, uint16_t value)
	TEST_F (JointCommandSeriesElasticTest, Constructor)
	TEST_F (JointCommandSeriesElasticTest, LoadCoeffs)
	TEST_F (JointCommandSeriesElasticTest, getSimpleMeasuredState)
	TEST_F (JointCommandSeriesElasticTest, getCompleteMeasuredState)
	TEST_F (JointCommandSeriesElasticTest, getCommandedState)
	TEST_F (JointCommandSeriesElasticTest, setCommand)
	TEST_F (JointCommandSeriesElasticTest, setCommand_BadMsg)
	TEST_F (JointCommandSeriesElasticTest, getCapability)
Variables
CoeffMapPtr	brainstemCoeffMap
RobotInstancePtr	instance
CoeffMapPtr	motorCoeffMap
std::map< std::string, float >	testFloats
std::map< std::string, int32_t >	testInt32s
std::map< std::string, uint16_t >	testUInt16s

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Function Documentation

float getBrainstemCoeff

(

std::string

item

)

Definition at line 63 of file JointCommandSeriesElastic_Test.cpp.

std::string getCommandFile

(

std::string

mechanism

)

Definition at line 68 of file JointCommandSeriesElastic_Test.cpp.

float getFloat

(

std::string

item

)

Definition at line 18 of file JointCommandSeriesElastic_Test.cpp.

int32_t getInt32

(

std::string

item

)

Definition at line 38 of file JointCommandSeriesElastic_Test.cpp.

float getMotorCoeff

(

std::string

item

)

Definition at line 48 of file JointCommandSeriesElastic_Test.cpp.

float getUInt16

(

std::string

item

)

Definition at line 28 of file JointCommandSeriesElastic_Test.cpp.

bool hasBrainstemCoeff

(

std::string

item

)

Definition at line 53 of file JointCommandSeriesElastic_Test.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 433 of file JointCommandSeriesElastic_Test.cpp.

void setFloat	(	std::string	item,
		float	value
	)

Definition at line 23 of file JointCommandSeriesElastic_Test.cpp.

void setInt32	(	std::string	item,
		int32_t	value
	)

Definition at line 43 of file JointCommandSeriesElastic_Test.cpp.

void setUInt16	(	std::string	item,
		uint16_t	value
	)

Definition at line 33 of file JointCommandSeriesElastic_Test.cpp.

TEST_F	(	JointCommandSeriesElasticTest	,
		Constructor
	)

Missing IO function definitions

Definition at line 111 of file JointCommandSeriesElastic_Test.cpp.

TEST_F	(	JointCommandSeriesElasticTest	,
		LoadCoeffs
	)

Definition at line 120 of file JointCommandSeriesElastic_Test.cpp.

TEST_F	(	JointCommandSeriesElasticTest	,
		getSimpleMeasuredState
	)

Definition at line 164 of file JointCommandSeriesElastic_Test.cpp.

TEST_F	(	JointCommandSeriesElasticTest	,
		getCompleteMeasuredState
	)

joint

motor

encoder

joint calculated

encoder calculated

halls calculated

embedded command

Definition at line 193 of file JointCommandSeriesElastic_Test.cpp.

TEST_F	(	JointCommandSeriesElasticTest	,
		getCommandedState
	)

Definition at line 265 of file JointCommandSeriesElastic_Test.cpp.

TEST_F	(	JointCommandSeriesElasticTest	,
		setCommand
	)

Definition at line 304 of file JointCommandSeriesElastic_Test.cpp.

TEST_F	(	JointCommandSeriesElasticTest	,
		setCommand_BadMsg
	)

empty command message

wrong joint name

too many desiredPosition values

Definition at line 371 of file JointCommandSeriesElastic_Test.cpp.

TEST_F	(	JointCommandSeriesElasticTest	,
		getCapability
	)

Definition at line 416 of file JointCommandSeriesElastic_Test.cpp.

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Variable Documentation

CoeffMapPtr brainstemCoeffMap

Definition at line 15 of file JointCommandSeriesElastic_Test.cpp.

RobotInstancePtr instance

Definition at line 16 of file JointCommandSeriesElastic_Test.cpp.

CoeffMapPtr motorCoeffMap

Definition at line 14 of file JointCommandSeriesElastic_Test.cpp.

std::map<std::string, float> testFloats

Definition at line 11 of file JointCommandSeriesElastic_Test.cpp.

std::map<std::string, int32_t> testInt32s

Definition at line 12 of file JointCommandSeriesElastic_Test.cpp.

std::map<std::string, uint16_t> testUInt16s

Definition at line 13 of file JointCommandSeriesElastic_Test.cpp.