#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>
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 |
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.
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.