OpticalEncodersConsistency Class Reference

This tests checks if the motor encoder reading are consistent with the joint encoder readings. More...

#include <motorEncodersConsistency.h>

Inherits yarp::robottestingframework::TestCase.

Public Member Functions
virtual bool	setup (yarp::os::Property &property)
virtual void	tearDown ()
virtual void	run ()
void	goHome ()
void	setMode (int desired_mode)
void	saveToFile (std::string filename, yarp::os::Bottle &b)

Detailed Description

This tests checks if the motor encoder reading are consistent with the joint encoder readings.

Since the two sensors may be placed in different places, with gearboxes or tendon transmissions in between, a (signed) factor is needed to convert the two measurements. The test performes a cyclic movement between two reference positions (min and max) and collects data from both the encoders during the movement. The test generates four text data files, which are subsequently opened to generate plots. In all figures the joint and motor plots need to be reasonably aligned. The four plots are:

• joint positions vs motor positions
• joint velocities vs motor velocities
• joint positions (numerically derived by the test) vs joint velocities (measured by the control board)
• motor positions (numerically derived by the test) vs motor velocities (measured by the control board) The conversion formula from motor measurments (M) to joint encoder measurements (J) is the following: J = kinematic_mj * gearbox * M with kinematic_mj the joints coupling matrix and gearbox the gearbox reduction factor (e.g. 1:100)

Example: testRunner v -t motorEncodersConsistency.dll -p "--robot icub --part left_arm --joints ""(0 1 2)"" --home ""(-30 30 10)"" --speed ""(20 20 20)"" --max ""(-20 40 20)"" --min ""(-40 20 0)"" --cycles 10 --tolerance 1.0 " Example: testRunner v -s "..\icub-tests\suites\encoders-icubSim.xml"

Check the following functions:

• IEncoders::getEncoders()
• IEncoders::getEncoderSpeeds()
• IEncoders::getEncoderAccelerations()
• IMotorEncoder::getMotorEncoders()
• IMotorEncoder::getMotorEncoderSpeeds()
• IMotorEncoder::getMotorEncoderAccelerations() Note: Acceleration is not currently tested.

Accepts the following parameters:

Parameter name	Type	Units	Default Value	Required	Description	Notes
robot	string	-	-	Yes	The name of the robot.	e.g. icub
part	string	-	-	Yes	The name of trhe robot part.	e.g. left_arm
joints	vector of ints	-	-	Yes	List of joints to be tested
home	vector of doubles of size joints	deg	-	Yes	The home position for each joint
cycles	int	-	10	No	The number of test cycles (going from max to min position and viceversa
max	vector of doubles of size joints	deg	-	Yes	The max position using during the joint movement
min	vector of doubles of size joints	deg	-	Yes	The min position using during the joint movement
tolerance	vector of doubles of size joints	deg	-	Yes	The tolerance used when moving from min to max reference position and viceversa
speed	vector of doubles of size joints	deg/s	-	Yes	The reference speed used during the movement
matrix_size	int	-	-	Yes	The number of rows of the coupling matrix	Typical value = 4.
matrix	vector of doubles of size matrix_size	-	-	Yes	The kinematic_mj coupling matrix	matrix is identity if joints are not coupled
plotstring1	string		-	Yes	The string which generates plot 1
plotstring2	string		-	Yes	The string which generates plot 2
plotstring3	string		-	Yes	The string which generates plot 3
plotstring4	string		-	Yes	The string which generates plot 4

Definition at line 80 of file motorEncodersConsistency.h.

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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/motorEncoders-consistency/motorEncodersConsistency.h
• /home/runner/work/icub-tests/icub-tests/gh-pages/src/motorEncoders-consistency/motorEncodersConsistency.cpp