Check IPositionControl and IEncoders. More...

#include <MotorTest.h>

Inherits yarp::robottestingframework::TestCase.

Public Member Functions
virtual bool	setup (yarp::os::Property &configuration)

virtual void	tearDown ()

virtual void	run ()

Detailed Description

Check IPositionControl and IEncoders.

Check the following functions:

Accepts the following parameters:

Parameter name	Type	Units	Default Value	Required	Description	Notes
name	string	-	"MotorTest"	No	The name of the test.	-
portname	string	-	-	Yes	The yarp port name of the controlboard to test.	-
joints	int	-	-	Yes	Number of axes in the controlboard.	Must be consistent with the value returned by getAxes method.
target	vector of doubles of size joints	deg	-	Yes	For each joint the position to reach for passing the test.
min	vector of doubles of size joints	deg	-	Yes	For each joint the maximum lower error with respect to the target to consider the test as successful.
max	vector of doubles of size joints	deg	-	Yes	For each joint the maximum upper error with respect to the target to consider the test as successful.
refvel	vector of doubles of size joints	deg/s	-	Yes	For each joint the reference velocity value to set in the low level trajectory generator.
refacc	vector of doubles of size joints	deg/s^2	-	No	For each joint the reference acceleration value to set in the low level trajectory generator.
timeout	vector of doubles of size joints	s	-	Yes	For each joint the maximum time to wait for the joint to reach the target.

Definition at line 59 of file MotorTest.h.

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

Public Member Functions