icub-test
Public Member Functions
OpticalEncodersDrift Class Reference
A list of available tests

This tests checks if the relative encoders measurements are consistent over time, by performing cyclic movements between two reference positions (min and max). More...

#include <opticalEncodersDrift.h>

Inherits yarp::robottestingframework::TestCase.

Public Member Functions

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

Detailed Description

This tests checks if the relative encoders measurements are consistent over time, by performing cyclic movements between two reference positions (min and max).

The test collects data during the joint motion, saves data to a text file a plots the result. If the relative encoder is working correctly, the plot should have no drift. Otherwise, a drift in the plot may be caused by a damaged reflective encoder/ optical disk. For best reliability an high number of cycles (e.g. >100) is suggested.

example: testRunner -v -t OpticalEncodersDrift.dll -p "--robot icub --part head --joints ""(0 1 2)"" --home ""(0 0 0)" –speed "(20 20 20)" –max "(10 10 10)" –min "(-10 -10 -10)" –cycles 100 –tolerance 1.0 " example: testRunner -v -t OpticalEncodersDrift.dll -p "–robot icub –part head –joints ""(2)"" –home ""(0)"" –speed "(20 )" –max "(10 )" –min "(-10)" –cycles 100 –tolerance 1.0 "

Check the following functions:

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 - - Yes The number of test cycles (going from max to min position and viceversa) Use values > 100
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

Definition at line 62 of file opticalEncodersDrift.h.

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