From 33fd1190acdf2675e4ed042577b8fe5bcba52654 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Thu, 5 Jan 2017 20:21:20 +0100
Subject: [PATCH] added simple pid controller sanity test
---
.../libraries/core/test/CMakeLists.txt | 1 +
.../libraries/core/test/PIDControllerTest.cpp | 41 +++++++++++++++++++
2 files changed, 42 insertions(+)
create mode 100644 source/RobotAPI/libraries/core/test/PIDControllerTest.cpp
diff --git a/source/RobotAPI/libraries/core/test/CMakeLists.txt b/source/RobotAPI/libraries/core/test/CMakeLists.txt
index 35d29e49c..83127d642 100644
--- a/source/RobotAPI/libraries/core/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/core/test/CMakeLists.txt
@@ -1,4 +1,5 @@
set(LIBS ${LIBS} RobotAPICore )
armarx_add_test(TrajectoryTest TrajectoryTest.cpp "${LIBS}")
+armarx_add_test(PIDControllerTest PIDControllerTest.cpp "${LIBS}")
diff --git a/source/RobotAPI/libraries/core/test/PIDControllerTest.cpp b/source/RobotAPI/libraries/core/test/PIDControllerTest.cpp
new file mode 100644
index 000000000..85ec430aa
--- /dev/null
+++ b/source/RobotAPI/libraries/core/test/PIDControllerTest.cpp
@@ -0,0 +1,41 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* ArmarX is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @package ArmarX::RobotAPI::Test
+* @author Nils Adermann (naderman at naderman dot de)
+* @date 2010
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+* GNU General Public License
+*/
+
+#define BOOST_TEST_MODULE RobotAPI::PIDController::Test
+#define ARMARX_BOOST_TEST
+#include <RobotAPI/Test.h>
+#include <ArmarXCore/core/test/IceTestHelper.h>
+#include <ArmarXCore/util/json/JSONObject.h>
+#include "../PIDController.h"
+using namespace armarx;
+
+
+BOOST_AUTO_TEST_CASE(PIDControllerTest)
+{
+ PIDController c(1, 0, 0, 0.1, 0.1);
+ c.update(0.1, 0, 1);
+ ARMARX_INFO << "velocity: " << c.getControlValue();
+ BOOST_CHECK_LE(c.getControlValue(), 0.1);
+ BOOST_CHECK_LE(c.controlValueDerivation, 0.11);
+
+}
+
--
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