OncillaL0Test.cpp
834a71e80b9bdebian-lucid

OncillaL0Test.cpp
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			#include <gtest/gtest.h>

			#include "OncillaL0.h"

			using namespace nemo;
			using namespace rci;
			using namespace rci::oncilla;

			class OncillaL0Test: public ::testing::Test {
			protected:

			OncillaL0Test() :
			joint(), ja_values(), ji_values(), ja(), ji() {

			joint = OncillaL0Ptr(new OncillaL0("FooBar"));

			ja_values = RealVector(dim(1), 1.234);
			ji_values = RealVector(dim(2), 1.234);
			ji_values[1] = 2.345;

			ja = JointAngles::fromRad(ja_values);
			ji = JointImpedancePtr(new JointImpedance(ji_values));
			}

			virtual ~OncillaL0Test() {
			}

			OncillaL0Ptr joint;
			RealVector ja_values, ji_values;

			JointAnglesPtr ja;
			JointImpedancePtr ji;
			};

			TEST_F(OncillaL0Test, testInitialialState)
			{
			EXPECT_NO_THROW(joint->getLastPositionCommand());
			EXPECT_EQ(0.0,joint->getLastPositionCommand()->rad());

			}

			TEST_F(OncillaL0Test, testPositionCommand)
			{
			EXPECT_NO_THROW(joint->getLastPositionCommand());
			EXPECT_EQ(0.0,joint->getLastPositionCommand()->rad());
			joint->setJointPosition(ja);

			EXPECT_EQ(1.234, joint->getLastPositionCommand()->rad());
			}