icub-test
CartesianControlSimpleP2pMovementTest.h
1 /*
2  * iCub Robot Unit Tests (Robot Testing Framework)
3  *
4  * Copyright (C) 2015-2019 Istituto Italiano di Tecnologia (IIT)
5  *
6  * This library is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU Lesser General Public
8  * License as published by the Free Software Foundation; either
9  * version 2.1 of the License, or (at your option) any later version.
10  *
11  * This library is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14  * Lesser General Public License for more details.
15  *
16  * You should have received a copy of the GNU Lesser General Public
17  * License along with this library; if not, write to the Free Software
18  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
19  */
20 
21 #ifndef _CARTESIANCONTROLSIMPLEP2PMOVEMENT_H_
22 #define _CARTESIANCONTROLSIMPLEP2PMOVEMENT_H_
23 
24 #include <yarp/robottestingframework/TestCase.h>
25 #include <yarp/os/Property.h>
26 #include <yarp/dev/PolyDriver.h>
27 
39 class CartesianControlSimpleP2pMovementTest : public yarp::robottestingframework::TestCase
40 {
41  yarp::dev::PolyDriver driver;
42 
43 public:
46  virtual bool setup(yarp::os::Property& property);
47  virtual void tearDown();
48  virtual void run();
49 };
50 
51 #endif
This test verifies the point-to-point cartesian movement.