motorEncodersConsistency.h

/*
 * iCub Robot Unit Tests (Robot Testing Framework)
 *
 * Copyright (C) 2015-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef _OPTICALENCODERSCONSISTENCY_H_
#define _OPTICALENCODERSCONSISTENCY_H_
 
#include <string>
#include <yarp/robottestingframework/TestCase.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/sig/Vector.h>
#include <yarp/sig/Matrix.h>
 
class OpticalEncodersConsistency : public yarp::robottestingframework::TestCase {
public:
    OpticalEncodersConsistency();
    virtual ~OpticalEncodersConsistency();
 
    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);
 
private:
    std::string getPath(const std::string& str);
    std::string robotName;
    std::string partName;
    std::string plotString1;
    std::string plotString2;
    std::string plotString3;
    std::string plotString4;
 
    yarp::sig::Vector jointsList;
 
    double tolerance;
    bool plot_enabled;
 
    int    n_part_joints;
    int    cycles;
     
    yarp::dev::PolyDriver        *dd;
    yarp::dev::IPositionControl  *ipos;
    yarp::dev::IControlMode      *icmd;
    yarp::dev::IInteractionMode  *iimd;
    yarp::dev::IEncoders         *ienc;
    yarp::dev::IMotorEncoders    *imotenc;
    yarp::dev::IMotor            *imot;
    yarp::dev::IRemoteVariables  *ivar;
 
    yarp::sig::Vector zero_vector;
    yarp::sig::Vector enc_jnt;
    yarp::sig::Vector enc_jnt2mot;
    yarp::sig::Vector enc_mot;
    yarp::sig::Vector enc_mot2jnt;
    yarp::sig::Vector vel_jnt;
    yarp::sig::Vector vel_jnt2mot;
    yarp::sig::Vector vel_mot;
    yarp::sig::Vector vel_mot2jnt;
    yarp::sig::Vector acc_jnt;
    yarp::sig::Vector acc_jnt2mot;
    yarp::sig::Vector acc_mot;
    yarp::sig::Vector acc_mot2jnt;
 
    yarp::sig::Vector prev_enc_jnt;
    yarp::sig::Vector prev_enc_jnt2mot;
    yarp::sig::Vector prev_enc_mot;
    yarp::sig::Vector prev_enc_mot2jnt;
    yarp::sig::Vector prev_vel_jnt;
    yarp::sig::Vector prev_vel_jnt2mot;
    yarp::sig::Vector prev_vel_mot;
    yarp::sig::Vector prev_vel_mot2jnt;
    yarp::sig::Vector prev_acc_jnt;
    yarp::sig::Vector prev_acc_jnt2mot;
    yarp::sig::Vector prev_acc_mot;
    yarp::sig::Vector prev_acc_mot2jnt;
 
    yarp::sig::Vector diff_enc_jnt;
    yarp::sig::Vector diff_enc_jnt2mot;
    yarp::sig::Vector diff_enc_mot;
    yarp::sig::Vector diff_enc_mot2jnt;
    yarp::sig::Vector diff_vel_jnt;
    yarp::sig::Vector diff_vel_jnt2mot;
    yarp::sig::Vector diff_vel_mot;
    yarp::sig::Vector diff_vel_mot2jnt;
    yarp::sig::Vector diff_acc_jnt;
    yarp::sig::Vector diff_acc_jnt2mot;
    yarp::sig::Vector diff_acc_mot;
    yarp::sig::Vector diff_acc_mot2jnt;
 
    yarp::sig::Vector max;
    yarp::sig::Vector min;
    yarp::sig::Vector home;
    yarp::sig::Vector speed;
    yarp::sig::Vector gearbox;
 
    yarp::sig::Matrix matrix_arms;
    yarp::sig::Matrix matrix_torso;
    yarp::sig::Matrix matrix_legs;
    yarp::sig::Matrix matrix_head;
 
    yarp::sig::Matrix matrix;
    yarp::sig::Matrix inv_matrix;
    yarp::sig::Matrix trasp_matrix;
    yarp::sig::Matrix inv_trasp_matrix;
};
 
#endif //_opticalEncoders_H