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icub-test
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The purpose of this test is to evaluate the accuracy of the IMU Euler angles measurements. More...
#include <imu.h>
Inherits yarp::robottestingframework::TestCase.
Public Member Functions | |
| virtual bool | setup (yarp::os::Property &property) |
| virtual void | tearDown () |
| virtual void | run () |
The purpose of this test is to evaluate the accuracy of the IMU Euler angles measurements.
It takes as input the urdf of the robot and make a comparison between the expected values retrieved from the forward kinematics and the ones read from the IMU itself. The test involves the movements of the joints belonging to the part on which the sensors are mounted.
You can find the parameters involved in the test in the following table:
| Parameter name | Type | Required | Description | Notes |
|---|---|---|---|---|
| robot | string | Yes | The name of the robot. | e.g. icub |
| model | string | Yes | The name of the robot model. | e.g. model.urdf |
| port | string | Yes | The name of the port streaming IMU data. | e.g. /icub/alljoints/inertials |
| remoteControlBoards | vector of string | Yes | The list of the controlboards to open. | e.g. ("torso", "head") |
| axesNames | vector of string | Yes | The list of the controlled joints. | e.g. ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw") |
| sensorsList | vector of string | Yes | The list of the sensors to be tested. | e.g. ("head_imu_0", "l_arm_ft") or ("all") |
| maxError | double | Yes | The tolerance on the error. |
Further instructions about how to install, configure and run the test can be found in the related page.
1.9.1