JointControlManager_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/JointControlManagerGripper.h"
#include "robodyn_mechanisms/JointControlManagerSeriesElastic.h"
#include "robodyn_mechanisms/JointControlManagerWrist.h"
#include "robodyn_mechanisms/JointControlManagerFactory.h"
#include <ros/package.h>

Include dependency graph for JointControlManager_Test.cpp:

Go to the source code of this file.

Classes
class	JointControlManagerTest
Functions
bool	getBoolParam (std::string paramName, bool &value)
std::string	getControlFile (std::string mechanism)
bool	getDoubleParam (std::string paramName, double &value)
bool	getIntParam (std::string paramName, int &value)
float	getLiveCoeff (std::string coeff)
std::string	getRegisterFile (std::string mechanism)
bool	getStringParam (std::string paramName, std::string &value)
bool	hasLiveCoeff (std::string coeff)
bool	hasParam (std::string paramName)
int	main (int argc, char **argv)
void	setBoolParam (std::string paramName, bool value)
void	setDoubleParam (std::string paramName, double value)
void	setIntParam (std::string paramName, int value)
void	setLiveCoeff (std::string coeff, float value)
void	setStringParam (std::string paramName, std::string value)
	TEST_F (JointControlManagerTest, InitialControlModeStates)
	TEST_F (JointControlManagerTest, CheckFpgaFaults)
	TEST_F (JointControlManagerTest, Off)
	TEST_F (JointControlManagerTest, Park)
	TEST_F (JointControlManagerTest, Neutral)
	TEST_F (JointControlManagerTest, Drive)
	TEST_F (JointControlManagerTest, ClearFault)
	TEST_F (JointControlManagerTest, InitialCommandModeStates)
	TEST_F (JointControlManagerTest, MotcomMode)
	TEST_F (JointControlManagerTest, ActuatorMode)
	TEST_F (JointControlManagerTest, MultiLoopStep)
	TEST_F (JointControlManagerTest, StallMode)
	TEST_F (JointControlManagerTest, MultiLoopSmooth)
	TEST_F (JointControlManagerTest, InitialCalibrationModeStates)
	TEST_F (JointControlManagerTest, EnableCalibrationMode)
	TEST_F (JointControlManagerTest, InitialClearFaultModeStates)
	TEST_F (JointControlManagerTest, EnableClearFaultMode)
	TEST_F (JointControlManagerTest, VerifyControlModeState)
	TEST_F (JointControlManagerTest, VerifyCommandModeState)
	TEST_F (JointControlManagerTest, VerifyCalibrationModeState)
Variables
RobotInstancePtr	instance
std::map< std::string, float >	testLiveCoeffs
ParamMap	testParamMap

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Function Documentation

bool getBoolParam	(	std::string	paramName,
		bool &	value
	)

Definition at line 50 of file JointControlManager_Test.cpp.

std::string getControlFile

(

std::string

mechanism

)

Definition at line 24 of file JointControlManager_Test.cpp.

bool getDoubleParam	(	std::string	paramName,
		double &	value
	)

Definition at line 62 of file JointControlManager_Test.cpp.

bool getIntParam	(	std::string	paramName,
		int &	value
	)

Definition at line 68 of file JointControlManager_Test.cpp.

float getLiveCoeff

(

std::string

coeff

)

Definition at line 34 of file JointControlManager_Test.cpp.

std::string getRegisterFile

(

std::string

mechanism

)

Definition at line 19 of file JointControlManager_Test.cpp.

bool getStringParam	(	std::string	paramName,
		std::string &	value
	)

Definition at line 56 of file JointControlManager_Test.cpp.

bool hasLiveCoeff

(

std::string

coeff

)

Definition at line 29 of file JointControlManager_Test.cpp.

bool hasParam

(

std::string

paramName

)

Definition at line 45 of file JointControlManager_Test.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 1879 of file JointControlManager_Test.cpp.

void setBoolParam	(	std::string	paramName,
		bool	value
	)

Definition at line 74 of file JointControlManager_Test.cpp.

void setDoubleParam	(	std::string	paramName,
		double	value
	)

Definition at line 84 of file JointControlManager_Test.cpp.

void setIntParam	(	std::string	paramName,
		int	value
	)

Definition at line 89 of file JointControlManager_Test.cpp.

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

Definition at line 39 of file JointControlManager_Test.cpp.

void setStringParam	(	std::string	paramName,
		std::string	value
	)

Definition at line 79 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		InitialControlModeStates
	)

Definition at line 172 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		CheckFpgaFaults
	)

Definition at line 189 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		Off
	)

Definition at line 222 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		Park
	)

Definition at line 336 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		Neutral
	)

Definition at line 485 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		Drive
	)

Definition at line 667 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		ClearFault
	)

Definition at line 965 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		InitialCommandModeStates
	)

Definition at line 1134 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		MotcomMode
	)

Definition at line 1151 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		ActuatorMode
	)

Definition at line 1177 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		MultiLoopStep
	)

Definition at line 1204 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		StallMode
	)

Definition at line 1335 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		MultiLoopSmooth
	)

Definition at line 1403 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		InitialCalibrationModeStates
	)

Definition at line 1476 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		EnableCalibrationMode
	)

Definition at line 1493 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		InitialClearFaultModeStates
	)

Definition at line 1523 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		EnableClearFaultMode
	)

Definition at line 1540 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		VerifyControlModeState
	)

Definition at line 1570 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		VerifyCommandModeState
	)

Definition at line 1660 of file JointControlManager_Test.cpp.

TEST_F	(	JointControlManagerTest	,
		VerifyCalibrationModeState
	)

Definition at line 1779 of file JointControlManager_Test.cpp.

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Variable Documentation

RobotInstancePtr instance

Definition at line 17 of file JointControlManager_Test.cpp.

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

Definition at line 15 of file JointControlManager_Test.cpp.

ParamMap testParamMap

Definition at line 16 of file JointControlManager_Test.cpp.