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icub-test
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Check IPositionControl, IVelocityControl, IPWMControl, IPositionDirect. More...
#include <movementReferencesTest.h>
Inherits yarp::robottestingframework::TestCase.
Public Member Functions | |
| virtual bool | setup (yarp::os::Property &configuration) |
| virtual void | tearDown () |
| virtual void | run () |
Check IPositionControl, IVelocityControl, IPWMControl, IPositionDirect.
Check the following functions:
Accepts the following parameters:
| Parameter name | Type | Units | Default Value | Required | Description | Notes |
|---|---|---|---|---|---|---|
| name | string | - | "MovementReferencesTest" | 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. |
| home | vector of doubles of size joints | deg | - | Yes | For each joint the position to reach for passing the test. | |
| target | vector of doubles of size joints | deg | - | Yes | For each joint the position to reach for passing the test. | |
| 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. |
Definition at line 56 of file movementReferencesTest.h.
1.9.1