JointControlActual_Test.cpp File Reference

#include <iostream>
#include <gtest/gtest.h>
#include <boost/shared_ptr.hpp>
#include "robot_instance/RobotInstanceFactory.h"
#include "robot_instance/NodeRegisterManager.h"
#include "robodyn_mechanisms/JointControlActualGripper.h"
#include "robodyn_mechanisms/JointControlActualSeriesElastic.h"
#include "robodyn_mechanisms/JointControlActualWrist.h"
#include "robodyn_mechanisms/JointControlManagerFactory.h"
#include "r2_msgs/PowerState.h"
#include <ros/package.h>

Include dependency graph for JointControlActual_Test.cpp:

Go to the source code of this file.

Classes
class	JointControlActualFsmTest
Functions
std::string	getControlFile (std::string mechanism)
float	getLiveCoeff (std::string coeff)
std::string	getRegisterFile (std::string mechanism)
bool	hasLiveCoeff (std::string coeff)
int	main (int argc, char **argv)
void	setLiveCoeff (std::string coeff, float value)
	TEST_F (JointControlActualFsmTest, InitialBootLoader)
	TEST_F (JointControlActualFsmTest, FpgaFaults)
	TEST_F (JointControlActualFsmTest, Off)
	TEST_F (JointControlActualFsmTest, FaultIfInMotCom)
	TEST_F (JointControlActualFsmTest, Faults)
	TEST_F (JointControlActualFsmTest, Park)
	TEST_F (JointControlActualFsmTest, Neutral)
	TEST_F (JointControlActualFsmTest, Drive)
	TEST_F (JointControlActualFsmTest, AFewControlModeInvalid)
	TEST_F (JointControlActualFsmTest, InitialCommandMode)
	TEST_F (JointControlActualFsmTest, CantMultiLoopWithNoCoeffs)
	TEST_F (JointControlActualFsmTest, StallMode)
	TEST_F (JointControlActualFsmTest, MultiLoopStep)
	TEST_F (JointControlActualFsmTest, MultiLoopSmooth)
	TEST_F (JointControlActualFsmTest, InitialCalibrationMode)
	TEST_F (JointControlActualFsmTest, EnableCalibrationAndBack)
	TEST_F (JointControlActualFsmTest, InitialClearFaultState)
	TEST_F (JointControlActualFsmTest, EnableClearFaultAndBack)
	TEST_F (JointControlActualFsmTest, InitialCoeffState)
	TEST_F (JointControlActualFsmTest, ShowCoeffsLoadedAndBack)
	TEST_F (JointControlActualFsmTest, getFaults)
Variables
RobotInstancePtr	instance
std::map< std::string, float >	testLiveCoeffs

---

Function Documentation

std::string getControlFile

(

std::string

mechanism

)

Definition at line 24 of file JointControlActual_Test.cpp.

float getLiveCoeff

(

std::string

coeff

)

Definition at line 34 of file JointControlActual_Test.cpp.

std::string getRegisterFile

(

std::string

mechanism

)

Definition at line 19 of file JointControlActual_Test.cpp.

bool hasLiveCoeff

(

std::string

coeff

)

Definition at line 29 of file JointControlActual_Test.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 1051 of file JointControlActual_Test.cpp.

void setLiveCoeff	(	std::string	coeff,
		float	value
	)

Definition at line 39 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		InitialBootLoader
	)

Definition at line 142 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		FpgaFaults
	)

Definition at line 170 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		Off
	)

Definition at line 235 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		FaultIfInMotCom
	)

Definition at line 274 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		Faults
	)

Definition at line 309 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		Park
	)

Definition at line 374 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		Neutral
	)

Definition at line 413 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		Drive
	)

Definition at line 452 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		AFewControlModeInvalid
	)

Definition at line 504 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		InitialCommandMode
	)

Definition at line 553 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		CantMultiLoopWithNoCoeffs
	)

Definition at line 577 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		StallMode
	)

Definition at line 606 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		MultiLoopStep
	)

Definition at line 635 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		MultiLoopSmooth
	)

Definition at line 675 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		InitialCalibrationMode
	)

Definition at line 721 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		EnableCalibrationAndBack
	)

Definition at line 744 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		InitialClearFaultState
	)

Definition at line 807 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		EnableClearFaultAndBack
	)

Definition at line 832 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		InitialCoeffState
	)

Definition at line 865 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		ShowCoeffsLoadedAndBack
	)

Definition at line 890 of file JointControlActual_Test.cpp.

TEST_F	(	JointControlActualFsmTest	,
		getFaults
	)

check all faulted bits

Definition at line 931 of file JointControlActual_Test.cpp.

---

Variable Documentation

RobotInstancePtr instance

Definition at line 17 of file JointControlActual_Test.cpp.

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

Definition at line 16 of file JointControlActual_Test.cpp.