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

	#include "liboncilla/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());
	}