IAxisInfoTest.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef IAXISINFOTEST_H
#define IAXISINFOTEST_H
 
#include <yarp/dev/IAxisInfo.h>
#include <catch2/catch_amalgamated.hpp>
 
using namespace yarp::dev;
using namespace yarp::os;
 
namespace yarp::dev::tests
{
    inline void exec_iAxisInfo_test_1(IAxisInfo* iinfo)
    {
        REQUIRE(iinfo !=nullptr);
 
        bool b;
 
        int ax;
        b = iinfo->getAxes(&ax);
        CHECK(b);
        CHECK(ax != 0);
 
        std::string name;
        b = iinfo->getAxisName(0,name);
        CHECK(b);
        CHECK(name == std::string("joint0"));
 
        yarp::dev::JointTypeEnum type;
        b = iinfo->getJointType(0, type);
        CHECK(b);
        CHECK(type == yarp::dev::JointTypeEnum::VOCAB_JOINTTYPE_REVOLUTE);
    }
}
 
#endif