YouBotArmTestWithoutThread.hpp

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#ifndef YouBotArmTestWithoutThread_HPP
#define YouBotArmTestWithoutThread_HPP

#include <cppunit/TestCase.h>
#include <cppunit/extensions/HelperMacros.h>

#include <iostream>
#include <vector>
#include <signal.h>
#include <boost/ptr_container/ptr_vector.hpp>
#include "youbot_driver/youbot/YouBotBase.hpp"
#include "youbot_driver/youbot/YouBotManipulator.hpp"
#include "youbot_driver/youbot/DataTrace.hpp"

using namespace youbot;

class YouBotArmTestWithoutThread : public CppUnit::TestFixture {
        CPPUNIT_TEST_SUITE(YouBotArmTestWithoutThread);
        CPPUNIT_TEST(youBotArmTest);
        CPPUNIT_TEST_SUITE_END();

public:
        YouBotArmTestWithoutThread();
        virtual ~YouBotArmTestWithoutThread();

        void setUp();
        void tearDown();


        void youBotArmTest();

private:
        unsigned int overallTime;
        unsigned int startTime;
        unsigned int updateCycle;
  const int dof;
  EthercatMasterInterface* ethercatMaster;
};

#endif //YouBotArmTestWithoutThread_H