00001 #ifndef YOU_BOT_BASE_TEST_H 00002 #define YOU_BOT_BASE_TEST_H 00003 00004 #include <cppunit/TestCase.h> 00005 #include <cppunit/extensions/HelperMacros.h> 00006 00007 #include <iostream> 00008 #include <vector> 00009 #include <signal.h> 00010 #include <youbot_driver/youbot/YouBotBase.hpp> 00011 #include <youbot_driver/youbot/YouBotManipulator.hpp> 00012 #include <youbot_driver/youbot/DataTrace.hpp> 00013 00014 using namespace youbot; 00015 00019 class YouBotBaseTest : public CppUnit::TestFixture 00020 { 00021 CPPUNIT_TEST_SUITE(YouBotBaseTest); 00022 CPPUNIT_TEST(youBotBaseTest_PositionMode); 00023 CPPUNIT_TEST(youBotBaseTest_VelocityMode); 00024 CPPUNIT_TEST(youBotBaseTest_CurrentMode);CPPUNIT_TEST_SUITE_END() 00025 ; 00026 00027 public: 00028 YouBotBaseTest(); 00029 virtual ~YouBotBaseTest(); 00030 00031 void setUp(); 00032 void tearDown(); 00033 00034 void youBotBaseTest_PositionMode(); 00035 void youBotBaseTest_VelocityMode(); 00036 void youBotBaseTest_CurrentMode(); 00037 00038 private: 00039 unsigned int jointNO; 00040 unsigned int stepStartTime; 00041 unsigned int durationNull; 00042 unsigned int overallTime; 00043 unsigned int startTime; 00044 unsigned int updateCycle; 00045 JointAngleSetpoint setAngle; 00046 JointVelocitySetpoint setVel; 00047 JointCurrentSetpoint currentSetpoint; 00048 00049 }; 00050 00051 #endif //YOU_BOT_BASE_TEST_H