Add doxygen documentation

robotology · Jan 24, 2024 · ad31d2e · ad31d2e
1 parent 5f84b94
commit ad31d2e
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Showing 3 changed files with 31 additions and 4 deletions.
diff --git a/src/imu/imu.cpp b/src/imu/imu.cpp
@@ -23,7 +23,7 @@ bool Imu::setup(yarp::os::Property& property)
     ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("robot"), "The robot name must be given as the test parameter!");
     ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("port"), "The port name must be given as the test parameter!");
     ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("part"), "The part name must be given as the test parameter!");
-    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("remote_controlboards"), "Please, provide the controlboards name.");
+    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("controlboards"), "Please, provide the controlboards name.");
     ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("model"), "Please, provide the urdf model path.");
     ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("frame"), "Please, provide the frame name.");
     ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("sensor"), "Please, provide the sensor name.");
@@ -54,7 +54,7 @@ bool Imu::setup(yarp::os::Property& property)
     yarp::os::Bottle remoteControlBoards;
     yarp::os::Bottle & remoteControlBoardsList = remoteControlBoards.addList(); 
     yarp::os::Bottle *inputControlBoards;
-    inputControlBoards = property.find("remote_controlboards").asList();
+    inputControlBoards = property.find("controlboards").asList();
     for (int i = 0; i < inputControlBoards->size(); i++)
     {
         remoteControlBoardsList.addString("/"+robotName+"/"+inputControlBoards->get(i).asString());

diff --git a/src/imu/imu.h b/src/imu/imu.h
@@ -13,6 +13,34 @@
 #include <iDynTree/ModelLoader.h>
 #include <iDynTree/Model.h>
 
+/**
+* \ingroup icub-tests
+*
+* The purpose of this test is to evaluate the accuracy of the IMU Euler angles measurements.
+* It takes as input the urdf of the robot and make a comparison between the expected values retrieved from the forward kinematics and the ones read from the IMU itself.
+* The test involves the movements of the joints belonging to the part on which the sensor is mounted. The movements are executed sequentially, traversing from the home position to the lower limit, upper limit and back to the home position for each joint.
+*
+* Example: robottestingframework-testrunner --test plugins/imu.so --param "--robot icub --model model.urdf --port /icub/head/inertials --part head --controlboards ("torso", "head") --sensor head_imu_0 --frame head_imu_0 --mean_error 0.1"
+*
+* Moreover, you can manually modify the suites/contexts/icub/test_imu.ini file depending on the parameters of the test. In this case, after compiling, you can run:
+*
+* robottestingframework-testrunner --suite ../suites/imu.xml
+*
+* This will launch the test and open a yarpscope with the plots of the IMU traces.
+*
+*  Accepts the following parameters:
+* | Parameter name     | Type               | Units | Default Value | Required | Description | Notes |
+* |:------------------:|:------------------:|:-----:|:-------------:|:--------:|:-----------:|:-----:|
+* | robot              | string             | -     | -             | Yes      | The name of the robot. | e.g. icub |
+* | model              | string             | -     | -             | Yes      | The name of the robot model. | e.g. model.urdf |
+* | port               | string             | -     | -             | Yes      | The name of the port streaming IMU data. | e.g. /icub/head/inertials |
+* | part               | string             | -     | -             | Yes      | The name of the robot part on which the sensor is mounted. | e.g. head |
+* | controlboards      | vector of string   | -     | -             | Yes      | The list of the controlboards to open. | e.g. ("torso", "head") |
+* | sensor             | string             | -     | -             | Yes      | The name of the sensor to be tested. | e.g. head_imu_0 |
+* | frame              | string             | -     | -             | Yes      | The name of the frame on which the sensor is attached. | e.g. head_imu_0|
+* | mean_error         | double             | -     | -             | Yes      | The tolerance on the mean of the error. | |
+*/
+
 class Imu : public yarp::robottestingframework::TestCase {
     public:
         Imu();
@@ -49,7 +77,6 @@ class Imu : public yarp::robottestingframework::TestCase {
 
         iDynTree::ModelLoader model;
         iDynTree::KinDynComputations kinDynComp;
-
         iDynTree::VectorDynSize s;
         iDynTree::VectorDynSize ds;
         iDynTree::Vector3 gravity;

diff --git a/suites/contexts/icub/test_imu.ini b/suites/contexts/icub/test_imu.ini
@@ -2,7 +2,7 @@ robot                   ${robotname}
 model                   model.urdf
 port                    /${robotname}/head/inertials
 part                    head
-remote_controlboards    ("torso", "head")
+controlboards           ("torso", "head")
 sensor                  head_imu_0
 frame                   head_imu_0
 mean_error              0.1