YouBotGripperTest.hpp

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#ifndef YOU_BOT_GRIPPER_TEST_H
#define YOU_BOT_GRIPPER_TEST_H

#include <cppunit/TestCase.h>
#include <cppunit/extensions/HelperMacros.h>

#include <iostream>
#include <vector>
#include <signal.h>
#include <boost/ptr_container/ptr_vector.hpp>
#include "youbot/YouBotBase.hpp"
#include "youbot/YouBotManipulator.hpp"
#include "youbot/GripperDataTrace.hpp"

using namespace youbot;

///////////////////////////////////////////////////////////////////////////////
/// A unit test for the youBot gripper
///////////////////////////////////////////////////////////////////////////////
class YouBotGripperTest : public CppUnit::TestFixture {
  CPPUNIT_TEST_SUITE(YouBotGripperTest);
  CPPUNIT_TEST(youBotGripperTest);
  CPPUNIT_TEST_SUITE_END();

public:
  YouBotGripperTest();
  virtual ~YouBotGripperTest();

  void setUp();
  void tearDown();


  void youBotGripperTest();

private:
  unsigned int overallTime;
  unsigned int startTime;
  unsigned int updateCycle;
  const int dof;
};

#endif //YOU_BOT_GRIPER_TEST_H