MotorTest.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 _MOTORTEST_H_
#define _MOTORTEST_H_
 
#include <yarp/robottestingframework/TestCase.h>
 
#include <yarp/os/Value.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Time.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/ControlBoardInterfaces.h>
 
class MotorTest : public yarp::robottestingframework::TestCase {
public:
    MotorTest();
    virtual ~MotorTest();
 
    virtual bool setup(yarp::os::Property& configuration);
 
    virtual void tearDown();
 
    virtual void run();
 
private:
    yarp::dev::PolyDriver m_driver;
    yarp::dev::IEncoders *iEncoders;
    yarp::dev::IPositionControl *iPosition;
    bool m_initialized;
    std::string m_portname;
    int m_NumJoints;
    double *m_aTargetVal;
    double *m_aHome;
    double *m_aMaxErr;
    double *m_aMinErr;
    double *m_aRefVel;
    double *m_aRefAcc;
    double *m_aTimeout;
};
 
#endif //_MOTORTEST_H_