movementReferencesTest.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 _MOVEMENTREFERNCESTEST_
#define _MOVEMENTREFERNCESTEST_
 
#include <yarp/robottestingframework/TestCase.h>
 
#include <yarp/os/Value.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Time.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include "yarp/robottestingframework/JointsPosMotion.h"
 
class MovementReferencesTest : public yarp::robottestingframework::TestCase {
public:
    MovementReferencesTest();
    virtual ~MovementReferencesTest();
 
    virtual bool setup(yarp::os::Property& configuration);
 
    virtual void tearDown();
 
    virtual void run();
 
private:
    void setAndCheckControlMode(int j, int mode);
 
 
    yarp::dev::PolyDriver *dd;
    yarp::dev::IEncoders *iEncoders;
    yarp::dev::IPositionControl *iPosition;
    yarp::dev::IPWMControl *iPWM;
    yarp::dev::IPositionDirect *iPosDirect;
    yarp::dev::IControlMode *iControlMode;
    yarp::dev::IVelocityControl *iVelocity;
 
 
 
    bool initialized;
    std::string robotName;
    std::string partName;
 
    int numJointsInPart;
    int numJoints;
    yarp::robottestingframework::jointsPosMotion *jPosMotion;
    yarp::sig::Vector jointsList;
    int *jList;
 
    yarp::sig::Vector targetPos;
    yarp::sig::Vector homePos;
    yarp::sig::Vector refVel;
    yarp::sig::Vector refAcc;
    //yarp::sig::Vector timeout;
};
 
#endif //_MOVEMENTREFERNCESTEST_