OncillaL1L2Test.cpp
4ea317d51feadebian-lucid

OncillaL1L2Test.cpp
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			#include <gtest/gtest.h>

			#include <liboncilla/nodes/L1L2.h>
			#include "liboncilla/Synchronizer.h"


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

			class MockSynchronizer: public ::rci::oncilla::Synchronizer {
			public:
			MockSynchronizer() :
			Synchronizer("Sync") {
			}
			virtual void ProcessAsyncPrimpl() {
			}
			virtual void WaitForProcessAsyncPrimpl() {
			}

			virtual double lastProcessTimeStep() const {
			return 0.005;
			}

			virtual void switchToSynchronizationModeHook(){
			}
			};

			class OncillaL1L2Test: public ::testing::Test {
			protected:

			OncillaL1L2Test() :
			joint(), ja_values(), ji_values(), ja(), ji(), synchr() {

			joint = rci::oncilla::L1::Ptr(new L1(synchr, "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 ~OncillaL1L2Test() {
			}

			rci::oncilla::L1L2::Ptr joint;
			RealVector ja_values, ji_values;

			JointAnglesPtr ja;
			JointImpedancePtr ji;

			MockSynchronizer synchr;
			};

			TEST_F(OncillaL1L2Test, testInitialialState)
			{
			EXPECT_NO_THROW(joint->getLastPositionCommand());
			EXPECT_EQ(0.0,joint->getLastPositionCommand()->rad());
			}

			TEST_F(OncillaL1L2Test, testPositionCommand)
			{
			EXPECT_NO_THROW(joint->getLastPositionCommand());
			EXPECT_EQ(0.0,joint->getLastPositionCommand()->rad());
			joint->setJointPosition(ja);
			EXPECT_EQ(1.234, joint->getLastPositionCommand()->rad());
			}