CartesianControlSimpleP2pMovementTest Class Reference

This test verifies the point-to-point cartesian movement. More...

#include <CartesianControlSimpleP2pMovementTest.h>

Inherits yarp::robottestingframework::TestCase.

Public Member Functions
virtual bool	setup (yarp::os::Property &property)
virtual void	tearDown ()
virtual void	run ()

Detailed Description

This test verifies the point-to-point cartesian movement.

Accepts the following parameters:

Parameter name	Type	Units	Default Value	Required	Description	Notes
robot	string	-	icubSim	No	robot name	-
arm-type	string	-	left	No	left or right	-

Definition at line 39 of file CartesianControlSimpleP2pMovementTest.h.

Constructor & Destructor Documentation

CartesianControlSimpleP2pMovementTest()

CartesianControlSimpleP2pMovementTest::CartesianControlSimpleP2pMovementTest

(

)

Definition at line 41 of file CartesianControlSimpleP2pMovementTest.cpp.

                                                                             :
                                       yarp::robottestingframework::TestCase("CartesianControlSimpleP2pMovementTest")
{
}

~CartesianControlSimpleP2pMovementTest()

CartesianControlSimpleP2pMovementTest::~CartesianControlSimpleP2pMovementTest ( )

virtual

Definition at line 48 of file CartesianControlSimpleP2pMovementTest.cpp.

{
}

Member Function Documentation

run()

void CartesianControlSimpleP2pMovementTest::run ( )

virtual

Definition at line 79 of file CartesianControlSimpleP2pMovementTest.cpp.

{
    ICartesianControl *iarm;
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(driver.view(iarm),"Opening the view on the device!");
 
    bool done;
 
    Vector x,o;
    double t0=Time::now();
    while (Time::now()-t0<5.0)
    {
        done=iarm->getPose(x,o);
        if (done)
            break;
        Time::delay(0.1);
    }
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(done,"Initial pose retrieved!");
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Setting up the context");
    int context;
    iarm->storeContext(&context);
 
    Vector dof;
    iarm->getDOF(dof); dof=1.0;
    iarm->setDOF(dof,dof);
    iarm->setTrajTime(1.0);
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Reaching for the target");
    Vector xd(3,0.0); xd[0]=-0.4;
    iarm->goToPositionSync(xd);
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Waiting");
    done=iarm->waitMotionDone(1.0,5.0);
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(done,"Target reached!");
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Going back to starting pose");
    iarm->setLimits(0,0.0,0.0);
    iarm->setLimits(1,0.0,0.0);
    iarm->setLimits(2,0.0,0.0);
    iarm->goToPoseSync(x,o);
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Waiting");
    done=iarm->waitMotionDone(1.0,5.0);
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(done,"Starting pose reached!");
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Cleaning up the context");
    iarm->restoreContext(context);
    iarm->deleteContext(context);
}

setup()

bool CartesianControlSimpleP2pMovementTest::setup ( yarp::os::Property &  property )

virtual

Definition at line 54 of file CartesianControlSimpleP2pMovementTest.cpp.

{
    string robot=property.check("robot",Value("icubSim")).asString();
    string arm=property.check("arm-type",Value("left")).asString();
 
    Property option;
    option.put("device","cartesiancontrollerclient");
    option.put("remote",("/"+robot+"/"+"cartesianController/"+arm+"_arm"));
    option.put("local",("/"+getName()+"/"+arm+"_arm"));
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT(Asserter::format("Opening Cartesian Controller Client for %s_arm",arm.c_str()));
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(driver.open(option),"Unable to open the client!");
    return true;
}

tearDown()

void CartesianControlSimpleP2pMovementTest::tearDown ( )

virtual

Definition at line 71 of file CartesianControlSimpleP2pMovementTest.cpp.

{
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Closing Cartesian Controller Client");
    ROBOTTESTINGFRAMEWORK_ASSERT_FAIL_IF_FALSE(driver.close(),"Unable to close the client!");
}

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The documentation for this class was generated from the following files:

• /home/runner/work/icub-tests/icub-tests/gh-pages/src/cartesian-control/simple-p2p-movement/CartesianControlSimpleP2pMovementTest.h
• /home/runner/work/icub-tests/icub-tests/gh-pages/src/cartesian-control/simple-p2p-movement/CartesianControlSimpleP2pMovementTest.cpp