adapt admittance_controller tests

StoglRobotics-forks · May 17, 2023 · b04371a · b04371a
1 parent 167b210
commit b04371a
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Showing 2 changed files with 11 additions and 8 deletions.
diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -201,7 +201,7 @@ class AdmittanceControllerTest : public ::testing::Test
 
  for (auto i = 0u; i < joint_command_values_.size(); ++i)
  {
- command_itfs_.emplace_back(hardware_interface::CommandInterface(
+ command_itfs_.emplace_back(std::make_shared<hardware_interface::CommandInterface>(
  joint_names_[i], command_interface_types_[0], &joint_command_values_[i]));
  command_ifs.emplace_back(command_itfs_.back());
  }
@@ -216,7 +216,7 @@ class AdmittanceControllerTest : public ::testing::Test
 
  for (auto i = 0u; i < joint_state_values_.size(); ++i)
  {
- state_itfs_.emplace_back(hardware_interface::StateInterface(
+ state_itfs_.emplace_back(std::make_shared<hardware_interface::StateInterface>(
  joint_names_[i], state_interface_types_[0], &joint_state_values_[i]));
  state_ifs.emplace_back(state_itfs_.back());
  }
@@ -226,7 +226,7 @@ class AdmittanceControllerTest : public ::testing::Test
 
  for (auto i = 0u; i < fts_state_names_.size(); ++i)
  {
- state_itfs_.emplace_back(hardware_interface::StateInterface(
+ state_itfs_.emplace_back(std::make_shared<hardware_interface::StateInterface>(
  ft_sensor_name_, fts_itf_names[i], &fts_state_values_[i]));
  state_ifs.emplace_back(state_itfs_.back());
  }
@@ -397,8 +397,8 @@ class AdmittanceControllerTest : public ::testing::Test
  std::array<double, 6> fts_state_values_ = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
  std::vector<std::string> fts_state_names_;
 
- std::vector<hardware_interface::StateInterface> state_itfs_;
- std::vector<hardware_interface::CommandInterface> command_itfs_;
+ std::vector<std::shared_ptr<hardware_interface::StateInterface>> state_itfs_;
+ std::vector<std::shared_ptr<hardware_interface::CommandInterface>> command_itfs_;
 
  // Test related parameters
  std::unique_ptr<TestableAdmittanceController> controller_;

diff --git a/gripper_controllers/test/test_gripper_controllers.hpp b/gripper_controllers/test/test_gripper_controllers.hpp
@@ -57,9 +57,12 @@ class GripperControllerTest : public ::testing::Test
  std::vector<double> joint_states_ = {1.1, 2.1};
  std::vector<double> joint_commands_ = {3.1};
 
- StateInterface joint_1_pos_state_{joint_name_, HW_IF_POSITION, &joint_states_[0]};
- StateInterface joint_1_vel_state_{joint_name_, HW_IF_VELOCITY, &joint_states_[1]};
- CommandInterface joint_1_pos_cmd_{joint_name_, HW_IF_POSITION, &joint_commands_[0]};
+ std::shared_ptr<StateInterface> joint_1_pos_state_ =
+ std::make_shared<StateInterface>(joint_name_, HW_IF_POSITION, &joint_states_[0]);
+ std::shared_ptr<StateInterface> joint_1_vel_state_ =
+ std::make_shared<StateInterface>(joint_name_, HW_IF_VELOCITY, &joint_states_[1]);
+ std::shared_ptr<CommandInterface> joint_1_pos_cmd_ =
+ std::make_shared<CommandInterface>(joint_name_, HW_IF_POSITION, &joint_commands_[0]);
 };
 
 #endif // TEST_GRIPPER_CONTROLLERS_HPP_