#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>
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 |
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.
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.