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OncillaL1L2Test.cpp
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R6622 liboncilla
OncillaL1L2Test.cpp
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#include <gtest/gtest.h>
#include <liboncilla/nodes/L1L2.h>
#include "liboncilla/OncillaSynchronizer.h"
using
namespace
nemo
;
using
namespace
rci
;
using
namespace
rci
::
oncilla
;
class
MockSynchronizer
:
public
OncillaSynchronizer
{
public
:
MockSynchronizer
()
:
OncillaSynchronizer
(
"Sync"
)
{
}
virtual
void
processAsync
()
{
}
virtual
void
waitForProcessAsync
()
{
}
virtual
void
registerTrunkNode
(
rci
::
oncilla
::
Trunk
::
Ptr
)
{
}
virtual
void
registerL0Node
(
rci
::
oncilla
::
Leg
,
rci
::
oncilla
::
L0
::
Ptr
)
{
}
virtual
void
registerL1Node
(
rci
::
oncilla
::
Leg
,
rci
::
oncilla
::
L1
::
Ptr
)
{
}
virtual
void
registerL2Node
(
rci
::
oncilla
::
Leg
,
rci
::
oncilla
::
L2
::
Ptr
)
{
}
virtual
void
registerL3Node
(
rci
::
oncilla
::
Leg
,
rci
::
oncilla
::
L3
::
Ptr
)
{
}
virtual
void
registerL4Node
(
rci
::
oncilla
::
Leg
,
rci
::
oncilla
::
L4
::
Ptr
)
{
}
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
());
}
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