CartesianControlReachingToleranceTest.h

/*
 * iCub Robot Unit Tests (Robot Testing Framework)
 *
 * Copyright (C) 2015-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef _CARTESIANCONTROLREACHINGTOLERANCE_H_
#define _CARTESIANCONTROLREACHINGTOLERANCE_H_
 
#include <yarp/robottestingframework/TestCase.h>
#include <yarp/os/Property.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/sig/Vector.h>
 
class CartesianControlReachingToleranceTest : public yarp::robottestingframework::TestCase
{
    yarp::dev::PolyDriver drvCart;
    yarp::dev::PolyDriver drvJoint;
 
    double compute_error(const yarp::sig::Vector &xh, const yarp::sig::Vector &oh,
                         const yarp::sig::Vector &x, const yarp::sig::Vector &o);
 
public:
    CartesianControlReachingToleranceTest();
    virtual ~CartesianControlReachingToleranceTest();
    virtual bool setup(yarp::os::Property& property);
    virtual void tearDown();
    virtual void run();
};
 
#endif