|
icub-test
|
This tests checks the positionDirect control, sending a sinusoidal reference signal, with parametric frequency and amplitude. More...
#include <PositionDirect.h>
Inherits yarp::robottestingframework::TestCase.
Public Member Functions | |
| virtual bool | setup (yarp::os::Property &property) |
| virtual void | tearDown () |
| virtual void | run () |
| void | goHome () |
| void | executeCmd () |
| void | setMode (int desired_mode) |
This tests checks the positionDirect control, sending a sinusoidal reference signal, with parametric frequency and amplitude.
The sample time, typical in the range of 10 ms, can be also be adjusted by the user. This test currently does not return any error report. It simply moves a joint, and the user visually evaluates the smoothness of the performed trajectory. In the future automatic checks/plots may be added to the test. Be aware theat may exists set of parameters (e.g. high values of sample time / ampiltude /frequency) that may lead to PID instability and damage the joint. The test is able to check all the three types of yarp methods (single joint, multi joint, all joints), depending on the value of cmdMode Parameter.
example: testRunner -v -t PositionDirect.dll - p "--robot icub --part head --joints ""(0 1 2)"" --zero 0 --frequency 0.8 --amplitude 10.0 --cycles 10 --tolerance 1.0 --sampleTime 0.010 --cmdMode 0" example: testRunner -v -t PositionDirect.dll - p "--robot icub --part head --joints ""(2)"" --zero 0 --frequency 0.4 --amplitude 10.0 --cycles 10 --tolerance 1.0 --sampleTime 0.010 --cmdMode 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 | |
| zero | double | deg | - | Yes | The home position for each joint | |
| cycles | int | - | - | Yes | The number of test cycles (going from max to min position and viceversa) | |
| frequency | double | deg | - | Yes | The frequency of the sine reference signal | |
| amplitude | double | deg | - | Yes | The ampiltude of the sine reference signal | |
| tolerance | double | deg | - | Yes | The tolerance used when moving from min to max reference position and viceversa | |
| sampleTime | double | s | - | Yes | The sample time of the control thread | |
| cmdMode | int | deg | - | Yes | = 0 to test single joint method, = 1 to test all joints, = 2 to test multi joint method |
Definition at line 60 of file PositionDirect.h.
1.9.1