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/* Copyright 2019, LAAS-CNRS |
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* |
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* Olivier Stasse |
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* |
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*/ |
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#include <dynamic-graph/factory.h> |
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#include <example-robot-data/path.hpp> |
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#include <iostream> |
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#include <sstream> |
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// Needed for sendMsg. |
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#define ENABLE_RT_LOG |
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#include <dynamic-graph/real-time-logger.h> |
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#include <sot/core/debug.hh> |
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#include <sot/core/robot-utils.hh> |
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#include <sot/torque_control/control-manager.hh> |
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#define BOOST_TEST_MODULE test - control - manager |
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#include <boost/test/output_test_stream.hpp> |
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#include <boost/test/unit_test.hpp> |
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using boost::test_tools::output_test_stream; |
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namespace dyn_sot_tc = dynamicgraph::sot::torque_control; |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
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BOOST_AUTO_TEST_CASE(testControlManager) { |
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✓✗✓✗ ✓✗✓✗ |
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dgADD_OSTREAM_TO_RTLOG(std::cout); |
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dyn_sot_tc::ControlManager &a_control_manager = |
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*(dynamic_cast<dyn_sot_tc::ControlManager *>( |
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✓✗✓✗ ✓✗✓✗ ✓✗ |
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dynamicgraph::FactoryStorage::getInstance()->newEntity( |
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"ControlManager", "a_control_manager"))); |
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✓✗ | 2 |
a_control_manager.setLoggerVerbosityLevel(dynamicgraph::VERBOSITY_ALL); |
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✓✗ | 4 |
std::string robotRef("simple_humanoid_description"); |
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a_control_manager.init( |
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✓✗ | 2 |
0.001, |
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EXAMPLE_ROBOT_DATA_MODEL_DIR |
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"/simple_humanoid_description/urdf/simple_humanoid.urdf", |
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robotRef); |
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✓✗ | 4 |
dynamicgraph::Vector av; |
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✓✗ | 2 |
a_control_manager.m_uSOUT.needUpdate(6); |
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✓✗ | 2 |
dynamicgraph::RealTimeLogger::destroy(); |
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} |
| Generated by: GCOVR (Version 4.2) |