GazeControlSimpleLookTest Class Reference

This test verifies the simple gaze movements. More...

#include <GazeControlSimpleLookTest.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 simple gaze movements.

Accepts the following parameters:

Parameter name	Type	Units	Default Value	Required	Description	Notes
-	-	-	-	-	-	-

Definition at line 38 of file GazeControlSimpleLookTest.h.

Constructor & Destructor Documentation

GazeControlSimpleLookTest()

GazeControlSimpleLookTest::GazeControlSimpleLookTest

(

)

Definition at line 40 of file GazeControlSimpleLookTest.cpp.

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

~GazeControlSimpleLookTest()

GazeControlSimpleLookTest::~GazeControlSimpleLookTest ( )

virtual

Definition at line 47 of file GazeControlSimpleLookTest.cpp.

{
}

Member Function Documentation

run()

void GazeControlSimpleLookTest::run ( )

virtual

Definition at line 75 of file GazeControlSimpleLookTest.cpp.

{
    IGazeControl *igaze;
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(driver.view(igaze),"Opening the view on the device!");
 
    bool done;
 
    Vector fp;
    double t0=Time::now();
    while (Time::now()-t0<5.0)
    {
        done=igaze->getFixationPoint(fp);
        if (done)
            break;
        Time::delay(0.1);
    }
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(done,"Initial fixation-point retrieved!");
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Setting up the context");
    int context;
    igaze->storeContext(&context);
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Looking at the target");
    Vector fpd(3,0.0); fp[0]=-0.4;
    igaze->lookAtFixationPoint(fpd);
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Waiting");
    igaze->waitMotionDone(1.0,5.0);
 
    igaze->checkMotionDone(&done);
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(done,"Target reached!");
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Going back");
    igaze->lookAtFixationPoint(fp);
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Waiting");
    igaze->waitMotionDone(1.0,5.0);
 
    igaze->checkMotionDone(&done);
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(done,"Done!");
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Cleaning up the context");
    igaze->restoreContext(context);
    igaze->deleteContext(context);
}

setup()

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

virtual

Definition at line 53 of file GazeControlSimpleLookTest.cpp.

{
    Property option;
    option.put("device","gazecontrollerclient");
    option.put("remote","/iKinGazeCtrl");
    option.put("local",("/"+getName()+"/gaze"));
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Opening Gaze Controller Client");
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(driver.open(option),"Unable to open the client!");
    return true;
}

tearDown()

void GazeControlSimpleLookTest::tearDown ( )

virtual

Definition at line 67 of file GazeControlSimpleLookTest.cpp.

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

---

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

• /home/runner/work/icub-tests/icub-tests/gh-pages/src/gaze-control/simple-look/GazeControlSimpleLookTest.h
• /home/runner/work/icub-tests/icub-tests/gh-pages/src/gaze-control/simple-look/GazeControlSimpleLookTest.cpp