test_torqueScheduler

test_torqueScheduler.test_torqueScheduler(lockFlag, tSwitch, accuracy)

Validation Test Description

This unit test verifies the correctness of the output motor torque Module: torqueScheduler. The inputs provided are the lock flag and the time at which thr control is switched from one degree of freedom to the other.

Test Parameters

Parameters:

• lockFlag (int) – flag to determine which torque to use first;

• tSwitch (double) – time at which torque is to be switched from one d.o.f. to the other;

Description of Variables Being Tested

This unit test checks the correctness of the output motor torque msg and the output effector lock msg:

• motorTorqueOutMsg

• effectorLockOutMsg.

The test checks that the output of motorTorqueOutMsg always matches the torques contained in the input msgs and that the flags contained in effectorLockOutMsg are consistent with the schedule logic that the user is requesting.