#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/JointCommandWrist.h"
#include <ros/package.h>
#include "r2_msgs/JointControlData.h"

Include dependency graph for JointCommandWrist_Test.cpp:

Classes
class	JointCommandWristTest
Functions
std::vector< std::string >	getActuatorNames (std::string mechanism)
bool	getBoolParam (std::string paramName, bool &value)
float	getBrainstemCoeff (std::string item)
std::string	getCommandFile (std::string mechanism)
bool	getDoubleParam (std::string paramName, double &value)
float	getInt16 (std::string item)
bool	getIntParam (std::string paramName, int &value)
std::vector< std::string >	getJointNames (std::string mechanism)
float	getLiveCoeff (std::string coeff)
float	getMotorCoeff (std::string item)
bool	getStringParam (std::string paramName, std::string &value)
float	getUint16 (std::string item)
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	setInt16 (std::string item, int16_t value)
void	setIntParam (std::string paramName, int value)
void	setLiveCoeff (std::string coeff, float value)
void	setStringParam (std::string paramName, std::string value)
void	setUint16 (std::string item, uint16_t value)
	TEST_F (JointCommandWristTest, Constructor)
	TEST_F (JointCommandWristTest, LoadCoeffs)
	TEST_F (JointCommandWristTest, getSimpleMeasuredState)
	TEST_F (JointCommandWristTest, getCompleteMeasuredState)
	TEST_F (JointCommandWristTest, LiveCoeff)
	TEST_F (JointCommandWristTest, Commands)
	TEST_F (JointCommandWristTest, getCapability)
	TEST_F (JointCommandWristTest, setFault)
Variables
CoeffMapPtr	brainstemCoeffMap
RobotInstancePtr	instance
CoeffMapPtr	motorCoeffMap
std::map< std::string, int16_t >	testInt16
std::map< std::string, float >	testLiveCoeffs
ParamMap	testParamMap
std::map< std::string, uint16_t >	testUint16

Function Documentation

std::vector<std::string> getActuatorNames ( std::string mechanism )

Definition at line 121 of file JointCommandWrist_Test.cpp.

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

Definition at line 72 of file JointCommandWrist_Test.cpp.

float getBrainstemCoeff ( std::string item )

Definition at line 42 of file JointCommandWrist_Test.cpp.

std::string getCommandFile ( std::string mechanism )

Definition at line 126 of file JointCommandWrist_Test.cpp.

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

Definition at line 84 of file JointCommandWrist_Test.cpp.

float getInt16 ( std::string item )

Definition at line 22 of file JointCommandWrist_Test.cpp.

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

Definition at line 90 of file JointCommandWrist_Test.cpp.

std::vector<std::string> getJointNames ( std::string mechanism )

Definition at line 116 of file JointCommandWrist_Test.cpp.

float getLiveCoeff ( std::string coeff )

Definition at line 57 of file JointCommandWrist_Test.cpp.

float getMotorCoeff ( std::string item )

Definition at line 47 of file JointCommandWrist_Test.cpp.

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

Definition at line 78 of file JointCommandWrist_Test.cpp.

float getUint16 ( std::string item )

Definition at line 27 of file JointCommandWrist_Test.cpp.

bool hasLiveCoeff ( std::string coeff )

Definition at line 52 of file JointCommandWrist_Test.cpp.

bool hasParam ( std::string paramName )

Definition at line 67 of file JointCommandWrist_Test.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 622 of file JointCommandWrist_Test.cpp.

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

Definition at line 96 of file JointCommandWrist_Test.cpp.

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

Definition at line 106 of file JointCommandWrist_Test.cpp.

void setInt16	(	std::string	item,
		int16_t	value
	)

Definition at line 32 of file JointCommandWrist_Test.cpp.

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

Definition at line 111 of file JointCommandWrist_Test.cpp.

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

Definition at line 62 of file JointCommandWrist_Test.cpp.

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

Definition at line 101 of file JointCommandWrist_Test.cpp.

void setUint16	(	std::string	item,
		uint16_t	value
	)

Definition at line 37 of file JointCommandWrist_Test.cpp.

TEST_F	(	JointCommandWristTest	,
		Constructor
	)

Missing IO function definitions

Definition at line 196 of file JointCommandWrist_Test.cpp.

TEST_F	(	JointCommandWristTest	,
		LoadCoeffs
	)

Definition at line 204 of file JointCommandWrist_Test.cpp.

TEST_F	(	JointCommandWristTest	,
		getSimpleMeasuredState
	)

Todo:: update this for halls check once calibrated

Definition at line 249 of file JointCommandWrist_Test.cpp.

TEST_F	(	JointCommandWristTest	,
		getCompleteMeasuredState
	)

Definition at line 295 of file JointCommandWrist_Test.cpp.

TEST_F	(	JointCommandWristTest	,
		LiveCoeff
	)

Definition at line 375 of file JointCommandWrist_Test.cpp.

TEST_F	(	JointCommandWristTest	,
		Commands
	)

Definition at line 406 of file JointCommandWrist_Test.cpp.

TEST_F	(	JointCommandWristTest	,
		getCapability
	)

Definition at line 503 of file JointCommandWrist_Test.cpp.

TEST_F	(	JointCommandWristTest	,
		setFault
	)

Todo:: this test should be enabled when ...

Definition at line 523 of file JointCommandWrist_Test.cpp.

Variable Documentation

CoeffMapPtr brainstemCoeffMap

Definition at line 18 of file JointCommandWrist_Test.cpp.

RobotInstancePtr instance

Definition at line 19 of file JointCommandWrist_Test.cpp.

CoeffMapPtr motorCoeffMap

Definition at line 17 of file JointCommandWrist_Test.cpp.

std::map<std::string, int16_t> testInt16

Definition at line 13 of file JointCommandWrist_Test.cpp.

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

Definition at line 15 of file JointCommandWrist_Test.cpp.

ParamMap testParamMap

Definition at line 16 of file JointCommandWrist_Test.cpp.

std::map<std::string, uint16_t> testUint16

Definition at line 14 of file JointCommandWrist_Test.cpp.

Classes

Functions

Variables

Function Documentation

Variable Documentation