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OncillaL0Test.cpp
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Created
Sat, Oct 19, 17:53
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Mon, Oct 21, 17:53 (2 d)
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R6622 liboncilla
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
());
}
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