YouBotArmTest.hpp

Go to the documentation of this file.

#ifndef YOU_BOT_ARM_TEST_H
#define YOU_BOT_ARM_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/DataTrace.hpp"

using namespace youbot;

///////////////////////////////////////////////////////////////////////////////
/// A unit test for the youBot arm
///////////////////////////////////////////////////////////////////////////////
class YouBotArmTest : public CppUnit::TestFixture {
  CPPUNIT_TEST_SUITE(YouBotArmTest);
  CPPUNIT_TEST(youBotArmTest);
  CPPUNIT_TEST_SUITE_END();

public:
  YouBotArmTest();
  virtual ~YouBotArmTest();

  void setUp();
  void tearDown();


  void youBotArmTest();

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

#endif //YOU_BOT_ARM_TEST_H