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impedance control consistency #20

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randaz81 opened this issue Mar 1, 2016 · 0 comments

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randaz81 commented Mar 1, 2016

Write a test which performs the following actions:

PART1:

set a small pre-defined impedance value (e.g. stiffness 0.2 damping 0.2) on all joints of the robot part.
read back the impedance from all the joints. Retrieved value should not differ more than (0.05 0.05) from the original command.
Repeat using a large pre-defined impedance value (e.g. stiffness 10.0 damping 10.0).
Threshold and test values should be stored in a ini file.

PART2:

call function yarp::dev::IImpedanceControl::getCurrentImpedanceLimit (int j,double * min_stiff,double * max_stiff,double * min_damp,double * max_damp ))
repeat the tests using the max/min values obtained by getCurrentImpedanceLimit() in place of the predefined values used in PART1.

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