TorqueControlGravityConsistency Class Reference

The test is supposed to be run with the iCub fixed to the pole, with the pole leveled with respect to the gravity (please check this with a level before running the test) and with the wholeBodyDynamics(Tree) running. More...

#include <TorqueControlGravityConsistency.h>

Inherits yarp::robottestingframework::TestCase.

Public Member Functions
virtual bool	setup (yarp::os::Property &property)
virtual void	tearDown ()
virtual void	run ()

Detailed Description

The test is supposed to be run with the iCub fixed to the pole, with the pole leveled with respect to the gravity (please check this with a level before running the test) and with the wholeBodyDynamics(Tree) running.

The tests opens the wholeBodyInterface (to be migrated to use material available on YARP and iDynTree) and compares the gravity compensation torque coming from the model and assuming that the gravity is fixed in the based with the joint torques measured by iCub (that actually come from the wholeBodyDynamics(Tree) ).

Example: testRunner -v -t TorqueControlGravityConsistency.dll -p ""

Definition at line 45 of file TorqueControlGravityConsistency.h.

---

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

• /home/runner/work/icub-tests/icub-tests/gh-pages/src/torqueControl-gravityConsistency/TorqueControlGravityConsistency.h
• /home/runner/work/icub-tests/icub-tests/gh-pages/src/torqueControl-gravityConsistency/TorqueControlGravityConsistency.cpp