YouBotBaseTest.hpp

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00001 #ifndef YOU_BOT_BASE_TEST_H
00002 #define YOU_BOT_BASE_TEST_H
00003 
00004 #include <cppunit/TestCase.h>
00005 #include <cppunit/extensions/HelperMacros.h>
00006 
00007 #include <iostream>
00008 #include <vector>
00009 #include <signal.h>
00010 #include "youbot/YouBotBase.hpp"
00011 #include "youbot/YouBotManipulator.hpp"
00012 #include "youbot/DataTrace.hpp"
00013 
00014 using namespace youbot;
00015 
00016 ///////////////////////////////////////////////////////////////////////////////
00017 /// A unit test for the youBot base
00018 ///////////////////////////////////////////////////////////////////////////////
00019 class YouBotBaseTest : public CppUnit::TestFixture {
00020   CPPUNIT_TEST_SUITE(YouBotBaseTest);
00021   CPPUNIT_TEST(youBotBaseTest_PositionMode);
00022   CPPUNIT_TEST(youBotBaseTest_VelocityMode);
00023   CPPUNIT_TEST(youBotBaseTest_CurrentMode);
00024   CPPUNIT_TEST_SUITE_END();
00025 
00026 public:
00027   YouBotBaseTest();
00028   virtual ~YouBotBaseTest();
00029 
00030   void setUp();
00031   void tearDown();
00032 
00033 
00034   void youBotBaseTest_PositionMode();
00035   void youBotBaseTest_VelocityMode();
00036   void youBotBaseTest_CurrentMode();
00037 
00038 private:
00039   unsigned int jointNO;
00040   unsigned int stepStartTime;
00041   unsigned int durationNull;
00042   unsigned int overallTime;
00043   unsigned int startTime;
00044   unsigned int updateCycle;
00045   JointAngleSetpoint setAngle;
00046   JointVelocitySetpoint setVel;
00047   JointCurrentSetpoint currentSetpoint;
00048 
00049 };
00050 
00051 #endif //YOU_BOT_BASE_TEST_H