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(){
	}

	virtual void calibrateIfNeeded(){
	}
	};

	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());
	}