trunk/tags/branches creation

CMakeLists.txt

+# Pre-requisites about cmake itself
+CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+
+if(COMMAND cmake_policy)
+  cmake_policy(SET CMP0005 NEW) 
+  cmake_policy(SET CMP0003 NEW) 
+endif(COMMAND cmake_policy)
+
+# The project name and the type of project
+PROJECT(comm)
+
+SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
+SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
+SET(CMAKE_INSTALL_PREFIX /usr/local)
+
+IF (NOT CMAKE_BUILD_TYPE)
+ SET(CMAKE_BUILD_TYPE "DEBUG") 
+ENDIF (NOT CMAKE_BUILD_TYPE)
+
+SET(CMAKE_C_FLAGS_DEBUG "-g -Wall")
+SET(CMAKE_C_FLAGS_RELEASE "-O3")
+
+ADD_SUBDIRECTORY(src/)
+ADD_SUBDIRECTORY(test/)
+
+FIND_PACKAGE(Doxygen)
+
+FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
+IF (IRI_DOC_DIR)
+  ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/iri_doc/doxygen.conf)
+ELSE (IRI_DOC_DIR)
+  ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/doxygen.conf)
+ENDIF (IRI_DOC_DIR)
+
+ADD_CUSTOM_TARGET (distclean @echo cleaning cmake files)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distribution clean"
+    COMMAND make ARGS clean
+    COMMAND rm ARGS -rf ${CMAKE_SOURCE_DIR}/build/*
+
+    TARGET  distclean
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distclean only implemented in unix"
+    TARGET  distclean
+  )
+ENDIF(UNIX)
+
+ADD_CUSTOM_TARGET (uninstall @echo uninstall package)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall package"
+    COMMAND xargs ARGS rm < install_manifest.txt
+
+    TARGET  uninstall
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall only implemented in unix"
+    TARGET  uninstall
+  )
+ENDIF(UNIX)
+
+
+IF (UNIX)
+  SET(CPACK_PACKAGE_FILE_NAME "iri-${PROJECT_NAME}-dev-${CPACK_PACKAGE_VERSION}${DISTRIB}${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
+  SET(CPACK_PACKAGE_NAME "iri-${PROJECT_NAME}-dev")
+  SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Part of IRI-laboratory libraries. More information at http://wikiri.upc.es/index.php/Robotics_Lab")
+  SET(CPACK_PACKAGING_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
+  SET(CPACK_GENERATOR "DEB")
+  SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "labrobotica@iri.upc.edu")
+  SET(CPACK_SET_DESTDIR "ON")  # Necessary because of the absolute install paths
+
+  INCLUDE(CPack)
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "packaging only implemented in unix"
+    TARGET  uninstall
+  )
+ENDIF(UNIX)
+

Findsegway_rmp_400.cmake

+FIND_PATH(segway_rmp_400_INCLUDE_DIR segway_RMP400.h segway_RMP400_exceptions.h /usr/include/iridrivers /usr/local/include/iridrivers)
+
+FIND_LIBRARY(segway_rmp_400_LIBRARY
+    NAMES segway_rmp_400
+    PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers) 
+
+IF (segway_rmp_400_INCLUDE_DIR AND segway_rmp_400_LIBRARY)
+   SET(segway_rmp_400_FOUND TRUE)
+ENDIF (segway_rmp_400_INCLUDE_DIR AND segway_rmp_400_LIBRARY)
+
+IF (segway_rmp_400_FOUND)
+   IF (NOT segway_rmp_400_FIND_QUIETLY)
+      MESSAGE(STATUS "Found Segway RMP400 driver: ${segway_rmp_400_LIBRARY}")
+   ENDIF (NOT segway_rmp_400_FIND_QUIETLY)
+ELSE (segway_rmp_400_FOUND)
+   IF (segway_rmp_400_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find segway RMP200 driver")
+   ENDIF (segway_rmp_400_FIND_REQUIRED)
+ENDIF (segway_rmp_400_FOUND)
+

ReadMe.txt

+Copyright (C) 2009-2010 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+Author cetto (cetto@iri.upc.edu)
+All rights reserved.
+
+This file is part of Segway RMP 400 driver library
+Segway RMP400 driver library is free software: you can redistribute it and/or modify
+it under the terms of the GNU Lesser General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>
+
+

doc/doxygen.conf

+# Doxyfile 1.5.5
+
+@INCLUDE_PATH = ../doc/
+@INCLUDE = doxygen_project_name.conf
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NUMBER         = 
+OUTPUT_DIRECTORY       = ../doc
+CREATE_SUBDIRS         = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = NO
+ABBREVIATE_BRIEF       = 
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = YES
+STRIP_FROM_PATH        = 
+STRIP_FROM_INC_PATH    = 
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+DETAILS_AT_TOP         = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 8
+ALIASES                = 
+OPTIMIZE_OUTPUT_FOR_C  = YES
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+TYPEDEF_HIDES_STRUCT   = NO
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = NO
+EXTRACT_PRIVATE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = YES
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = NO
+SORT_BRIEF_DOCS        = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+ENABLED_SECTIONS       = 
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_DIRECTORIES       = YES
+FILE_VERSION_FILTER    = 
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = YES
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+WARN_LOGFILE           = 
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = ../src \
+                         ../doc/main.dox
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.h \
+                         *.cpp
+RECURSIVE              = YES
+EXCLUDE                = 
+EXCLUDE_SYMLINKS       = NO
+EXCLUDE_PATTERNS       = *.tab.c \
+                         *.tab.h \
+                         lex* \
+                         *glr.h \
+                         *llr.h \
+                         *glr.c \
+                         *llr.c \
+                         *general.h
+EXCLUDE_SYMBOLS        = 
+EXAMPLE_PATH           = ../src/examples
+EXAMPLE_PATTERNS       = 
+EXAMPLE_RECURSIVE      = NO
+IMAGE_PATH             = ../doc/images
+INPUT_FILTER           = 
+FILTER_PATTERNS        = 
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = YES
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = YES
+REFERENCES_RELATION    = YES
+REFERENCES_LINK_SOURCE = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+IGNORE_PREFIX          = 
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_HEADER            = 
+HTML_FOOTER            = 
+HTML_STYLESHEET        = 
+HTML_ALIGN_MEMBERS     = YES
+GENERATE_HTMLHELP      = NO
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+HTML_DYNAMIC_SECTIONS  = NO
+CHM_FILE               = 
+HHC_LOCATION           = 
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+DISABLE_INDEX          = NO
+ENUM_VALUES_PER_LINE   = 4
+GENERATE_TREEVIEW      = NO
+TREEVIEW_WIDTH         = 250
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+GENERATE_LATEX         = NO
+LATEX_OUTPUT           = latex
+LATEX_CMD_NAME         = latex
+MAKEINDEX_CMD_NAME     = makeindex
+COMPACT_LATEX          = NO
+PAPER_TYPE             = a4
+EXTRA_PACKAGES         = 
+LATEX_HEADER           = 
+PDF_HYPERLINKS         = YES
+USE_PDFLATEX           = NO
+LATEX_BATCHMODE        = NO
+LATEX_HIDE_INDICES     = NO
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+GENERATE_RTF           = NO
+RTF_OUTPUT             = rtf
+COMPACT_RTF            = NO
+RTF_HYPERLINKS         = NO
+RTF_STYLESHEET_FILE    = 
+RTF_EXTENSIONS_FILE    = 
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+GENERATE_MAN           = NO
+MAN_OUTPUT             = man
+MAN_EXTENSION          = .3
+MAN_LINKS              = NO
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+GENERATE_XML           = NO
+XML_OUTPUT             = xml
+XML_SCHEMA             = 
+XML_DTD                = 
+XML_PROGRAMLISTING     = YES
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+GENERATE_AUTOGEN_DEF   = NO
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+GENERATE_PERLMOD       = NO
+PERLMOD_LATEX          = NO
+PERLMOD_PRETTY         = YES
+PERLMOD_MAKEVAR_PREFIX = 
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor   
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+INCLUDE_PATH           = 
+INCLUDE_FILE_PATTERNS  = 
+PREDEFINED             = _USE_MPI=1
+EXPAND_AS_DEFINED      = 
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references   
+#---------------------------------------------------------------------------
+TAGFILES               = 
+GENERATE_TAGFILE       = 
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool   
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+MSCGEN_PATH            = 
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = YES
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = NO
+INCLUDED_BY_GRAPH      = NO
+CALL_GRAPH             = YES
+CALLER_GRAPH           = YES
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = NO
+DOT_IMAGE_FORMAT       = png
+DOT_PATH               = 
+DOTFILE_DIRS           = 
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 2
+DOT_TRANSPARENT        = YES
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to the search engine   
+#---------------------------------------------------------------------------
+SEARCHENGINE           = NO

doc/doxygen_project_name.conf

+PROJECT_NAME = "Segway RMP400 driver"

doc/main.dox

+/*! \mainpage segway RMP400 driver
+
+  \section Introduction 
+
+  \subsection Pre-Requisites
+
+  This package requires of the following libraries and packages
+	 - <A href="http://www.cmake.org">cmake</A>, a cross-platform build system.
+	 - <A href="http://www.doxygen.org">doxygen</a> and 
+	   <A href="http://www.graphviz.org">graphviz</a> to generate the documentation.
+         - stdc++, 
+	 .
+  
+  Under linux all of these utilities are available in ready-to-use packages.
+
+  Under MacOS most of the packages are available via <a href="http://www.finkproject.org/">fink</a>. <br>
+
+  \subsection Compilation
+
+  Just download this package, uncompress it, and execute
+   - cd build
+   - cmake ..
+   .
+  to generate the makefile and then
+   - make
+   .
+  to obtain the shared library (in this case called <em>iriutils.so</em>) and
+  also all the example programs.
+
+  The <em>cmake</em> only need to be executed once (make will automatically call
+  <em>cmake</em> if you modify one of the <em>CMakeList.txt</em> files).
+
+  To generate this documentation type
+       - make doc
+       .
+
+  The files in the <em>build</em> directory are genetated by <em>cmake</em>
+  and <em>make</em> and can be safely removed.
+  After doing so you will need to call cmake manually again.
+
+  \subsection Configuration
+
+  The default build mode is DEBUG. That is, objects and executables 
+  include debug information.
+
+  The RELEASE build mode optimizes for speed. To build in this mode
+  execute
+      - cmake .. -DCMAKE_BUILD_TYPE=RELEASE
+      .
+  The release mode will be kept until next time cmake is executed.
+
+  \subsection Installation
+
+  In order to be able to use the library, it it necessary to copy it into the system.
+  To do that, execute
+
+      - make install
+      .
+
+  as root and the shared libraries will be copied to <em>/usr/local/lib/iriutils</em> directory
+  and the header files will be copied to <em>/usr/local/include/iriutils</em> dierctory. At 
+  this point, the library may be used by any user.
+
+  To remove the library from the system, exceute
+      - make uninstall
+      .
+  as root, and all the associated files will be removed from the system.
+
+  \section Customization
+
+  To build a new application using these library, first it is necessary to locate if the library
+  has been installed or not using the following command
+
+      - FIND_PACKAGE(library_name REQUIRED)
+
+  In the case that the package is present, it is necessary to add the header files directory to
+  the include directory path by using
+
+      - INCLUDE_DIRECTORIES(${library_name_INCLUDE_DIR})
+
+  Finally, it is also nevessary to link with the desired libraries by using the following command
+
+      - TARGET_LINK_LIBRARIES(<executable name> ${library_name_LIBRARY})
+      .
+
+  \section License
+
+  This package is licensed under a  
+  <a href="http://www.gnu.org/licenses/lgpl.html">
+    LGPL 3.0 License</a>.
+
+  \section Disclaimer
+
+   This is free software: you can redistribute it and/or modify
+   it under the terms of the GNU Lesser General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU Lesser General Public License for more details.
+
+   You should have received a copy of the GNU Lesser General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>. 
+
+ */

src/CMakeLists.txt

+# edit the following line to add all the source code files of the library
+SET(sources segway_RMP400.cpp segway_RMP400_exception.cpp)
+# edit the following line to add all the header files of the library
+SET(headers segway_RMP400.h segway_RMP400_exception.h)
+
+# edit the following line to find the necessary packages
+FIND_PACKAGE(iriutils REQUIRED)
+FIND_PACKAGE(comm REQUIRED)
+FIND_PACKAGE(segway_rmp_200 REQUIRED)
+
+# edit the following line to add the necessary include directories
+INCLUDE_DIRECTORIES(.)
+INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${comm_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${segway_rmp_200_INCLUDE_DIR})
+
+ADD_LIBRARY(segway_rmp_400 SHARED ${sources})
+
+#edit the following line to add the necessary system libraries (if any)
+TARGET_LINK_LIBRARIES(segway_rmp_400 ${iriutils_LIBRARY})
+TARGET_LINK_LIBRARIES(segway_rmp_400 ${comm_LIBRARY})
+TARGET_LINK_LIBRARIES(segway_rmp_400 ${segway_rmp_200_LIBRARY})
+
+INSTALL(TARGETS segway_rmp_400
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib/iridrivers
+  ARCHIVE DESTINATION lib/iridrivers
+)
+
+INSTALL(FILES ${headers} DESTINATION include/iridrivers)
+
+INSTALL(FILES ../Findsegway_rmp_400.cmake DESTINATION ${CMAKE_ROOT}/Modules/)

src/examples/CMakeLists.txt

+# edit the following line to add the source code for the example and the name of the executable
+ADD_EXECUTABLE(test_segwayRMP400 test_segwayRMP400.cpp)
+# edit the following line to add the necessary libraries
+TARGET_LINK_LIBRARIES(test_segwayRMP400 ${segway_rmp_200_LIBRARY} segway_rmp_200)
+
+

src/examples/test_segwayRMP400.cpp

+#include "segway_RMP400.h"
+#include <iostream>
+
+void wait()
+{
+//  std::puts("Press any key to continue...");
+//  std::getchar();
+  sleep(1);
+}
+
+/*void tensecs(CSegwayRMP400* segway)
+{
+  int i;
+  //std::string info;
+//  std::ostream info;
+
+  for(i=0;i<10;i++)
+  {
+    sleep(1);
+//    segway->get_info(info);
+    std::cout << (*segway) << std::endl;
+  }
+}
+*/
+
+int main(int argc, char *argv[])
+{ 
+  CSegwayRMP400 *segway;
+
+  segway=new CSegwayRMP400();
+  segway->set_operation_mode(tractor);
+  segway->reset_integrators();
+
+  std::cout << "CAUTION!! THIS PROGRAM MOVES THE SEGWAYRMP400" << std::endl;
+  std::cout << "You need at least 4x4 meter clearance around the robot for these tests!" << std::endl;
+  std::cout << "No obstacle avoidance is implemented. If there is something in the way the robot will hit it!" << std::endl;
+  std::cout << "Moving 0.5 meters at 0.05m/sec" << std::endl;
+  wait();
+  segway->move(0.05,0.0); // 5cm per second 10 seconds = half a meter
+  int i;
+  for(i=0;i<10;i++)
+  {
+    sleep(1);
+    std::cout << (*segway) << std::endl;
+  }
+  segway->stop();
+  sleep(2);
+
+  std::cout << "Rotating 360 degrees with center of rotation on the side of the base" << std::endl;
+  wait();
+  segway->move(0.0,0.1); // one 10th rev per second, 10 seconds = 360 degrees turn 
+                         // center right on the side of the base (about 54 cm from center of base)
+//  tensecs(segway);
+  segway->stop();
+  sleep(2);
+
+  std::cout << "Rotating 360 degrees with center of rotation 1m away from the base center" << std::endl;
+  wait();
+  segway->move(0.1,0.1); // one 10th rev per second, 10 seconds = 360 degrees turn
+                         // center of rotation vT/vR = 1meter from the center of the base
+ // tensecs(segway);
+  segway->stop();
+  sleep(2);
+
+  std::cout << "Rotating backwards 360 degrees with center of rotation 1m away from the base center" << std::endl;
+  wait();
+  segway->move(-0.1,0.1); // one 10th rev per second, 10 seconds = 360 degrees turn BACKWARDS
+                          // center of rotation vT/vR = 1meter from the center of the base
+ // tensecs(segway);
+  segway->stop();
+
+
+  delete segway;
+  return 0;
+}

src/segway_RMP400.cpp

+#include "segway_RMP400.h"
+#include "segway_RMP400_exception.h"
+#include <iridrivers/segway_rmp200_exceptions.h>
+#include <cmath>
+
+CSegwayRMP400::CSegwayRMP400() :
+    status_(rmp400_off),
+    forward_displacement_(0.0),
+    yaw_displacement_(0.0),
+    yaw_rate_ (0.0),
+    wheel_radius_(default_wheel_radius_),
+    use_correction_wheel_factor_(true)
+{
+    scan_ftdi_for_segways();
+}
+
+CSegwayRMP400::CSegwayRMP400(const std::string serial1, const std::string serial2) :
+    status_(rmp400_off),
+    forward_displacement_(0.0),
+    yaw_displacement_(0.0),
+    yaw_rate_ (0.0),
+    wheel_radius_(default_wheel_radius_),
+    use_correction_wheel_factor_(true)
+{
+    if (serial1 == serial2)
+        throw RMP400IdemSerialException(_HERE_, serial1);
+
+    scan_ftdi_for_segways();
+
+    for (int i = 0; i < serial_ftdi_segway_devices_.size(); i++) {
+        std::string serial = serial_ftdi_segway_devices_[i];
+
+        if ((serial != serial1) && (serial != serial2))
+            throw RMP400NotFoundSerialException(_HERE_, serial);
+    }
+}
+
+void
+CSegwayRMP400::scan_ftdi_for_segways()
+{
+    CFTDIServer * ftdi_server_ = CFTDIServer::instance();
+    ftdi_server_->add_custom_PID(CSegwayRMP200::pid);
+
+    std::vector<int> ftdi_devs = ftdi_server_->get_ids_by_description(CSegwayRMP200::description);
+
+    for (int i = 0;i < ftdi_devs.size();i++) {
+        serial_ftdi_segway_devices_.push_back(
+                  ftdi_server_->get_serial_number(ftdi_devs.at(i)));
+    }
+
+    if (serial_ftdi_segway_devices_.size() != NUM_SEGWAY_200)
+        throw RMP400NotValidNumberRMP200Exception(_HERE_, serial_ftdi_segway_devices_.size());
+}
+
+void
+CSegwayRMP400::start()
+{
+    for (int i = 0;i < NUM_SEGWAY_200 ;i++) {
+
+        try
+        {
+            CSegwayRMP200 * segway = new CSegwayRMP200(serial_ftdi_segway_devices_[i]);
+            segways_.push_back(segway);
+        }
+        catch (CSegwayRMP200Exception & e)
+        {
+            // Something failed while starting engines
+            // clean up previous (if any) started engine
+            for (int i = 0; i < segways_.size(); i++) {
+                segways_[i]->stop();
+                delete segways_[i];
+            }
+
+            status_ = rmp400_off;
+            throw;
+        }
+    }
+
+    status_ = rmp400_connected;
+}
+
+std::ostream &
+operator<< (std::ostream& data, CSegwayRMP400 & segway)
+{
+  for (int i=0; i<segway.segways_.size(); i++)
+  {
+    data << "Segway unit: "              << i << std::endl;
+    data << "Pitch angle: "              << segway.segways_[i]->get_pitch_angle() << " degrees" << std::endl;
+    data << "Pitch rate "                << segway.segways_[i]->get_pitch_rate() << " degrees/s" << std::endl;
+    data << "Roll angle: "               << segway.segways_[i]->get_roll_angle() << " degrees" << std::endl;
+    data << "Roll rate: "                << segway.segways_[i]->get_roll_rate() << " degrees/s" << std::endl;
+    data << "Left wheel velocity: "      << segway.segways_[i]->get_left_wheel_velocity() << " m/s" << std::endl;
+    data << "Right wheel velocity: "     << segway.segways_[i]->get_right_wheel_velocity() << " m/s" << std::endl;
+    data << "Yaw rate: "                 << segway.segways_[i]->get_yaw_rate() << " degrees/s" << std::endl;
+    data << "Servo frames: "             << segway.segways_[i]->get_servo_frames() << " frames/s" << std::endl;
+    data << "Left wheel displacement: "  << segway.segways_[i]->get_left_wheel_displacement() << " m" << std::endl;
+    data << "Right wheel displacement: " << segway.segways_[i]->get_right_wheel_displacement() << " m" << std::endl;
+    data << "Forward displacement: "     << segway.segways_[i]->get_forward_displacement() << " m" << std::endl;
+    data << "Yaw displacement: "         << segway.segways_[i]->get_yaw_displacement() << " rev" << std::endl;
+    data << "Left motor torque: "        << segway.segways_[i]->get_left_motor_torque() << " Nm" << std::endl;
+    data << "Right motor torque: "       << segway.segways_[i]->get_right_motor_torque() << " Nm" << std::endl;
+    if(segway.segways_[i]->get_operation_mode()==tractor)
+      data << "Operation mode: tractor" << std::endl;
+    else
+      data << "Operation mode: power down" << std::endl;
+    if(segway.segways_[i]->get_gain_schedule()==light)
+      data << "Gain schedule: light" << std::endl;
+    else if(segway.segways_[i]->get_gain_schedule()==tall)
+      data << "Gain schedule: tall" << std::endl;
+    else
+      data << "Gain schedule: heavy" << std::endl;
+    data << "UI battery voltage: "        << segway.segways_[i]->get_ui_battery_voltage() << " V" << std::endl;
+    data << "Powerbase battery voltage: " << segway.segways_[i]->get_powerbase_battery_voltage() << " V" << std::endl << std::endl;
+  }
+    data << std::endl;
+}
+
+void
+CSegwayRMP400::set_operation_mode(op_mode mode)
+{
+    if (mode == balance)
+        throw RMP400InvalidBalanceModeOperation(_HERE_);
+
+    for (int i=0;i < segways_.size();i++)
+    {
+      segways_[i]->set_operation_mode(mode);
+      usleep(10000);
+    }
+}
+
+void
+CSegwayRMP400::need_to_be_connected() const
+{
+    if (! is_connected())
+        throw RMP400NoConnected(_HERE_);
+}
+
+void
+CSegwayRMP400::disable_corretion_wheel_factor()
+{
+    use_correction_wheel_factor_ = false;
+}
+
+void
+CSegwayRMP400::fix_with_wheel_factor(float & value)
+{
+   /* corretion factor is the diference between real wheel and supposed
+    * firmware wheel (probaby segway using the rmp200 value) */
+    value = value * (wheel_radius_ / RMP200_DEFAULT_WHEEL_RADIUS);
+}
+
+void
+CSegwayRMP400::set_wheel_radius(const float radius)
+{
+    wheel_radius_ = radius;
+}
+
+float
+CSegwayRMP400::get_forward_displacement()
+{
+    need_to_be_connected();
+
+    // The get_forward_displacement function in segway RMP 200 doesn't
+    // return the accumulate value of displacement, wheel_displacement
+    // function do. Use them instead.
+
+    double fwd_displ_segway0 = (segways_[0]->get_right_wheel_displacement() +
+                               segways_[0]->get_left_wheel_displacement()) / 2;
+    double fwd_displ_segway1 = (segways_[1]->get_right_wheel_displacement() +
+                               segways_[1]->get_left_wheel_displacement()) / 2;
+
+    forward_displacement_ = (fwd_displ_segway0 + fwd_displ_segway1) / 2;
+
+    if (use_correction_wheel_factor_)
+        fix_with_wheel_factor(forward_displacement_);
+
+    return forward_displacement_;
+}
+
+float
+CSegwayRMP400::get_yaw_displacement()
+{
+    need_to_be_connected();
+
+    float  yaw_displacement_mts = (segways_[0]->get_yaw_displacement() +
+                                   segways_[1]->get_yaw_displacement()) / 2;
+
+    if (use_correction_wheel_factor_)
+        fix_with_wheel_factor(yaw_displacement_mts);
+
+    yaw_displacement_ = yaw_displacement_mts * 2 * PI; // convert to radians
+    return yaw_displacement_;
+}
+
+float
+CSegwayRMP400::get_yaw_rate()
+{
+    need_to_be_connected();
+
+    yaw_rate_ = get_yaw_displacement() * (PI / 180);
+    return yaw_rate_;
+}
+
+void
+CSegwayRMP400::reset_integrators()
+{
+    need_to_be_connected();
+
+    do {
+      for (int i=0; i < segways_.size(); i++) {
+          segways_[i]->reset_right_wheel_integrator();
+          segways_[i]->reset_left_wheel_integrator();
+          segways_[i]->reset_yaw_integrator();
+          segways_[i]->reset_forward_integrator();
+      }
+      // Need to leave the segwayrmp 200 driver to read need values
+      sleep(1);
+    } while (! is_valid_reset_integrators());
+}
+
+bool
+CSegwayRMP400::is_valid_reset_integrators()
+{
+    float fd = get_forward_displacement();
+    float yd = get_yaw_displacement();
+
+    if (std::fabs(0.0 - fd) > 0.1) {
+        std::cerr << "[segway] Invalid forward reset value "  << fd << std::endl;
+        return false;
+    }
+
+    if (std::fabs(0.0 - yd) > 0.1) {
+        std::cerr << "[segway] Invalid yaw reset value "  << yd << std::endl;
+        return false;
+    }
+
+    return true;
+}
+
+void
+CSegwayRMP400::move(float vT, float vR)
+{
+    need_to_be_connected();
+
+    float vRradsec = vR * 2.0 * PI;  // revs per sec to rads per sec
+
+    if (fabs(vT) < fabs(RMP400_b * vRradsec / 2)) {
+        // minimum translational velocity needed to enforce rotation about a ICR outside of the robot base
+        if(vT>=0.0)
+            vT =  fabs(RMP400_b * vRradsec / 2);
+        else
+            vT = -fabs(RMP400_b * vRradsec / 2);
+    }
+
+    for (int i=0 ;i < segways_.size(); i++)
+        segways_[i]->move(vT,vR);
+}
+
+void
+CSegwayRMP400::stop()
+{
+    need_to_be_connected();
+
+    for (int i=0;i < segways_.size();i++)
+        segways_[i]->stop();
+
+    status_ = rmp400_off;
+}
+
+CSegwayRMP400::~CSegwayRMP400()
+{
+    for (int i=0;i < segways_.size(); i++) 
+        delete segways_[i];
+}

src/segway_RMP400.h

+#ifndef _SEGWAYRMP400_H
+#define _SEGWAYRMP400_H
+
+#include <segway_rmp200.h>
+#include <ftdiserver.h>
+#include <math.h>
+#include <vector>
+#include <string>
+#include <iostream>
+
+#define RMP400_b 0.54 // distance between weels for one rmp unit in meters
+#define PI 3.141592
+#define RMP200_DEFAULT_WHEEL_RADIUS 0.24
+
+const int NUM_SEGWAY_200 = 2;
+
+enum SegwayRMP400_status { rmp400_off, rmp400_connected };
+
+class CSegwayRMP400
+{
+  private:
+    std::vector<CSegwayRMP200 *> segways_;
+    /* vector of valid segway serials found in the ftdi bus */
+    std::vector<std::string> serial_ftdi_segway_devices_;
+
+    /**
+     * \brief Segway status
+     */
+    SegwayRMP400_status status_;
+
+    /**
+     * \brief forward displacement
+     *
+     * This value has the displacement of the whole platform in meters
+     * TODO: should be a thread periodically updating this value
+     */
+    float forward_displacement_;
+
+    /**
+     * \brief yaw displacement
+     *
+     * This value has the rotation of the whole platform in revolutions. 
+     * TODO: should be a thread periodically updating this value
+     */
+    float yaw_displacement_;
+
+    /**
+     * \brief yaw rate
+     *
+     * This value has the yaw rate of the platform in degrees per second. 
+     * TODO: should be a thread periodically updating this value
+     */
+    float yaw_rate_;
+
+    /**
+     * \brief default rmp400 wheel radius when inflated to 10 psi (in meters)
+     */
+    static const float default_wheel_radius_ = 0.26;
+
+    /**
+     * \brief wheel radius in meters
+     *
+     */
+    float wheel_radius_;
+
+    /**
+     * \brief whether use or not the correction factor to fix wheel size
+     * (default is true). See fix_with_wheel_factor for more info.
+     *
+     */
+    bool use_correction_wheel_factor_;
+
+    /**
+     * \brief apply a corretion factor to the value given
+     *
+     * It is suspected that segway is using the RMP200 wheel radius in RMP400
+     * firmware which gives a bad measure for displacements. This functions
+     * calculate the relation between radius and fix the value given using this
+     * factor.
+     */
+    void fix_with_wheel_factor(float & value);
+
+    /**
+     * \brief disable use of correction wheel factor for displacements
+     *
+     * Check fix_with_wheel_factor for more info.
+     */
+    void disable_corretion_wheel_factor();
+
+    void scan_ftdi_for_segways();
+
+    /**
+     * \brief set a different wheel radius (in meters)
+     *
+     * Default, when wheels are inflated to 10psi, is 0.26m. If the segway has
+     * a different meassure, please use this function before starting to operate
+     * as normal.
+     */
+    void set_wheel_radius(const float radius);
+
+    /*
+     * \brief check if the driver is already connected (made a start() call).
+     *
+     * It will return an RMP400NoConnected exception if fail
+     */
+    void need_to_be_connected() const;
+
+    /* \brief aux function to check if platform is really doing the reset in
+     *        integrators.
+     */
+    bool is_valid_reset_integrators();
+
+  protected:
+    /**
+    * \brief allowed modes:
+    * - tractor
+    * - power_dow
+    */
+    op_mode mode;
+
+  public:
+    CSegwayRMP400();
+    CSegwayRMP400(const std::string serial1, const std::string serial2);
+
+    ~CSegwayRMP400();
+
+    /**
+     * \brief function to set the operation mode
+     *
+     * Operation modes: tractor or power_down.
+     * In the RMP400 the balance mode is disabled.
+     */
+    void set_operation_mode(op_mode mode);
+
+    /**
+     * \brief function to check if segway is already connected
+     */
+    bool is_connected() const;
+
+    /**
+     * \brief function to return the total forward displacement
+     *
+     * This function returns the current forward displacement in meters. This 
+     * function only returns the value of the internal attribute, but it does
+     * not access the hardware platform. This value is periodically updated by
+     * the feedback thread.
+     *
+     * Both fordward displacement from segways are sum and a mean is calculated
+     *
+     * \return the current forward displacement in meters.
+     *
+     */
+    float get_forward_displacement(void);
+
+    /**
+     * \brief function to return the total yaw displacement
+     *
+     * This function returns the current yaw displacement in revolutions per 
+     * second. This function only returns the value of the internal attribute,
+     * but it does not access the hardware platform. This value is periodically 
+     * updated by the feedback thread.
+     *
+     * Both yaw displacement from segways are sum and a mean is calculated
+     *
+     * \return the current yaw displacement in revolutions per second.
+     *
+     */
+    float get_yaw_displacement(void);
+
+    /**
+     * \brief function to return the yaw rate
+     *
+     * This function returns the current yaw rate in revolutions per second. 
+     * This function only returns the value of the internal attribute, but it 
+     * does not access the hardware platform. This value is periodically updated 
+     * by the feedback thread.
+     *
+     * Both yaw rate from segways are sum and a mean is calculated
+     *
+     * \return the current yaw rate in revolutions per second.
+     *
+     */
+    float get_yaw_rate(void);
+
+    /**
+    * \brief function to reset integrators
+    *
+    * This function sets all encoder integrators to zero in both platforms.
+    * Currently this function seems NOT to be reliable since hardware not
+    * always is doing the proper work.
+    */
+    void reset_integrators();
+
+    /**
+    * \brief function to move the platform
+    *
+    * This function sets the rotational and translational velocities to a desired value
+    * vT is in m/sec, vR is in rev/sec
+    *
+    * Rotation about the center of the platform with skid steer is disabled.
+    * Skid steering is not recommended since it produces significant tire wear and unnecessary battery consumption.
+    * Odometry readings during skid steering are useless since they depend heavily on soil characteristics.
+    * A minimum Instantaneous Center of Rotation (ICR) located on the side of the platform is enforced (0.54cm).
+    */
+    void move(float vT, float vR);
+
+    /* \brief function to connect segways RMP200
+     *
+     * This functions start the vehicle
+     */
+    void start();
+
+    /* \brief function to stop the platform
+    *
+    * This function stops the vehicle
+    */
+    void stop();
+  friend std::ostream& operator<< (std::ostream& out, CSegwayRMP400& segway);
+};
+
+inline bool
+CSegwayRMP400::is_connected() const
+{
+    return (status_ == rmp400_connected);
+}
+
+
+#endif
+
+

src/segway_RMP400_exception.cpp

+#include "segway_RMP400_exception.h"
+#include <string>
+#include <sstream>
+
+const std::string segway_rmp400_exception_msg = "[CSegwayRMP400 class] - ";
+
+CSegwayRMP400Exception::CSegwayRMP400Exception(const std::string & where,
+                                               const std::string & error_msg,
+                                               const std::string & segway_id) throw () :
+    CException(where, segway_rmp400_exception_msg + error_msg + "-" + segway_id)
+{
+}
+
+CSegwayRMP400Exception::CSegwayRMP400Exception(const std::string & where,
+                                               const std::string & error_msg) throw () :
+    CException(where, segway_rmp400_exception_msg)
+{
+}
+
+RMP400IdemSerialException::RMP400IdemSerialException(const std::string & where,
+                                                     const std::string & serial) throw () :
+    CSegwayRMP400Exception(where, segway_rmp400_exception_msg)
+{
+    error_msg += "Serial ports are the same for two segways: " + serial;
+}
+
+RMP400NotFoundSerialException::RMP400NotFoundSerialException(const std::string & where,
+                                                             const std::string & serial) throw () :
+
+    CSegwayRMP400Exception(where, segway_rmp400_exception_msg)
+{
+    error_msg += "Serial port found: " + serial + " not inside valid ports supplied";
+}
+
+
+RMP400NotValidNumberRMP200Exception::RMP400NotValidNumberRMP200Exception(const std::string & where,
+                                                                         const int & number_found) throw () :
+    CSegwayRMP400Exception(where, segway_rmp400_exception_msg)
+{
+    std::stringstream s;
+    s << number_found;
+
+    error_msg += "Found " + s.str() + " RMP200 units which is not valid for this device";
+}
+
+RMP400InvalidBalanceModeOperation::RMP400InvalidBalanceModeOperation(const std::string & where) throw () :
+    CSegwayRMP400Exception(where, segway_rmp400_exception_msg)
+{
+    error_msg += "Balance mode for the segway RMP400 is completly crazy";
+}
+
+RMP400NoConnected::RMP400NoConnected(const std::string & where) throw () :
+    CSegwayRMP400Exception(where, segway_rmp400_exception_msg)
+{
+    error_msg += "Segway RMP 400 has not been connected";
+}

src/segway_RMP400_exception.h

+#ifndef _SEGWAY_RMP400_EXCEPTIONS
+#define _SEGWAY_RMP400_EXCEPTIONS
+
+#include "exceptions.h"
+
+/**
+ * \brief Generic segway RMP 400 exception class
+ *
+ * This class implements the exceptions for the CSegwayRMP400 class. In addition
+ * to the basic error message provided by the base class CException, this
+ * exception class provides also the unique identifier of the segway robot
+ * that generated the exception.
+ *
+ * Also, similarly to other exception classes, it appends a class identifer
+ * string ("[CSegwayRMP400 class] - ") to the error message in order to identify the
+ * class that generated the exception.
+ *
+ * The base class can be used to catch any exception thrown by the application
+ * or also, this class can be used in order to catch only exceptions generated 
+ * by CComm objects.
+ */
+class CSegwayRMP400Exception : public CException
+{
+  public:
+    /**
+     * \brief Constructor
+     *
+     * The constructor calls the base class constructor to add the general
+     * exception identifier and then adds the class identifier string 
+     * "[CSegwayRMP400 class]" and the supplied error message. 
+     *
+     * It also appends the unique identifier of the segway robot
+     * that generated the exception. So, the total exception message will 
+     * look like this:
+     *
+     * \verbatim
+     * [Exception caught] - <where>
+     * [CSegwayRMP400 class] - <error message> - <segway id>
+     * \endverbatim
+     *
+     * \param where a null terminated string with the information about the name
+     *              of the function, the source code filename and the line where
+     *              the exception was generated. This string must be generated 
+     *              by the _HERE_ macro.
+     *
+     * \param error_msg a null terminated string that contains the error message.
+     *                  This string may have any valid character and there is no
+     *                  limit on its length.
+     *
+     * \param segway_id a null terminated string that contains the segway robot
+     *                  unique identifier. This string must be the one used to create
+     *                  the communication device.
+     *
+     */
+    CSegwayRMP400Exception(const std::string& where,const std::string& error_msg,const std::string& segway_id) throw();
+
+    CSegwayRMP400Exception(const std::string& where,const std::string& error_msg) throw();
+};
+
+class RMP400IdemSerialException :
+    public CSegwayRMP400Exception
+{
+    public:
+        /* Constructor */
+        RMP400IdemSerialException(const std::string & where, const std::string & serial) throw ();
+};
+
+class RMP400NotFoundSerialException :
+    public CSegwayRMP400Exception
+{
+    public:
+        /* Constructor */
+        RMP400NotFoundSerialException(const std::string & where, const std::string & serial) throw ();
+};
+
+class RMP400NotValidNumberRMP200Exception :
+    public CSegwayRMP400Exception
+{
+    public:
+        /* Constructor */
+        RMP400NotValidNumberRMP200Exception(const std::string & where, const int & number) throw ();
+};
+
+class RMP400InvalidBalanceModeOperation :
+    public CSegwayRMP400Exception
+{
+    public:
+        /* Constructor */
+        RMP400InvalidBalanceModeOperation(const std::string & where) throw ();
+};
+
+class RMP400NoConnected :
+    public CSegwayRMP400Exception
+{
+    public:
+        /* constructor */
+        RMP400NoConnected(const std::string & where) throw ();
+};
+
+#endif

test/CMakeLists.txt

+# edit the following line to find the necessary packages
+FIND_LIBRARY(GTEST gtest)
+FIND_PACKAGE(segway_rmp_200)
+
+FIND_LIBRARY (GTEST_LIBRARY
+              NAMES gtest)
+
+IF (GTEST_LIBRARY)
+    message (STATUS "Found gtest library: testing suite will be compiled")
+    # edit the following line to add the necessary include directories
+    INCLUDE_DIRECTORIES(../src)
+    INCLUDE_DIRECTORIES(${segway_rmp_200_INCLUDE_DIR})
+
+    ADD_EXECUTABLE(test_basic    basic.cpp)
+    ADD_EXECUTABLE(test_movement movement.cpp)
+    TARGET_LINK_LIBRARIES(test_basic    segway_rmp_400 ${GTEST_LIBRARY})
+    TARGET_LINK_LIBRARIES(test_movement segway_rmp_400 ${GTEST_LIBRARY})
+else ()
+    message (STATUS "Not Found gtest library: testing suite won't be compiled")
+endif ()

test/basic.cpp

+/* vim: set sw=4 sts=4 et foldmethod=syntax : */
+
+#include <gtest/gtest.h>
+#include "segway_RMP400.h" 
+#include "exceptions.h"
+
+int g_argc;
+char** g_argv;
+
+TEST(Driver, constructor_destructor)
+{
+     ASSERT_NO_THROW ({
+             CSegwayRMP400 * segway = new CSegwayRMP400();
+             delete segway;
+     });
+}
+
+TEST(Driver, startstop)
+{
+    CSegwayRMP400 * segway = new CSegwayRMP400();
+    ASSERT_NO_THROW(segway->start());
+    ASSERT_NO_THROW(segway->stop());
+    delete segway;
+}
+
+TEST(Driver, startstoptwice)
+{
+    CSegwayRMP400 * segway = new CSegwayRMP400();
+    ASSERT_NO_THROW(segway->start());
+    ASSERT_NO_THROW(segway->stop());
+    ASSERT_NO_THROW(segway->start());
+    ASSERT_NO_THROW(segway->stop());
+    delete segway;
+}
+
+TEST(Driver, connected)
+{
+    CSegwayRMP400 * segway = new CSegwayRMP400();
+    ASSERT_FALSE(segway->is_connected());
+    segway->start();
+    ASSERT_TRUE(segway->is_connected());
+    segway->stop();
+    ASSERT_FALSE(segway->is_connected());
+    delete segway;
+}
+
+TEST(Driver, reset_integrators)
+{
+    CSegwayRMP400 * segway = new CSegwayRMP400();
+    segway->start();
+    ASSERT_NO_THROW(segway->reset_integrators());
+    segway->stop();
+    delete segway;
+}
+
+int main(int argc, char **argv)
+{
+     testing::InitGoogleTest(&argc, argv);
+     g_argc = argc;
+     g_argv = argv;
+     return RUN_ALL_TESTS();
+}

test/movement.cpp

+/* vim: set sw=4 sts=4 et foldmethod=syntax : */
+
+#include <gtest/gtest.h>
+#include "segway_RMP400.h" 
+#include "exceptions.h"
+
+int g_argc;
+char** g_argv;
+
+TEST(Driver, basic_move)
+{
+    CSegwayRMP400 * segway = new CSegwayRMP400();
+    segway->start();
+    ASSERT_NO_THROW(segway->move(0.3,0.3));
+    sleep(3);
+    segway->move(0.0,0.0);
+    segway->stop();
+    delete segway;
+}
+
+TEST(Driver, reset_integrators_after_move)
+{
+    CSegwayRMP400 * segway = new CSegwayRMP400();
+    segway->start();
+    segway->reset_integrators();
+    segway->move(0.2,0.0);
+    sleep(2);
+    segway->move(0.0,0.2);
+    sleep(2);
+    segway->move(0.0,0.0);
+    sleep(2);
+    segway->reset_integrators();
+    ASSERT_NEAR(segway->get_forward_displacement(), 0.0, 0.1);
+    ASSERT_NEAR(segway->get_yaw_displacement(), 0.0, 0.1);
+    segway->stop();
+    delete segway;
+}
+
+TEST(Driver, get_forward_displacement)
+{
+    CSegwayRMP400 * segway = new CSegwayRMP400();
+    segway->start();
+    segway->reset_integrators();
+    segway->move(0.2,0.0);
+    sleep(3);
+    ASSERT_GT(segway->get_forward_displacement(), 0.0);
+    segway->stop();
+    delete segway;
+}
+
+TEST(Driver, get_forward_negative_displacement)
+{
+    CSegwayRMP400 * segway = new CSegwayRMP400();
+    segway->start();
+    segway->reset_integrators();
+    segway->move(-0.2,0.0);
+    sleep(3);
+    ASSERT_LT(segway->get_forward_displacement(), 0.0);
+    segway->stop();
+    delete segway;
+}
+
+TEST(Driver, get_yaw_displacement)
+{
+    CSegwayRMP400 * segway = new CSegwayRMP400();
+    segway->start();
+    segway->reset_integrators();
+    segway->move(0.0,0.2);
+    sleep(3);
+    ASSERT_GT(segway->get_yaw_displacement(), 0.0);
+    segway->stop();
+    delete segway;
+}
+
+TEST(Driver, get_yaw_negative_displacement)
+{
+    CSegwayRMP400 * segway = new CSegwayRMP400();
+    segway->start();
+    segway->reset_integrators();
+    segway->move(0.0,-0.2);
+    sleep(3);
+    ASSERT_LT(segway->get_yaw_displacement(), 0.0);
+    segway->stop();
+    delete segway;
+}
+
+TEST(Driver, get_yaw_rate)
+{
+    CSegwayRMP400 * segway = new CSegwayRMP400();
+    segway->start();
+    segway->move(0.0,0.3);
+    sleep(3);
+    ASSERT_GT(segway->get_yaw_rate(), 0.0);
+    segway->stop();
+    delete segway;
+}
+
+int main(int argc, char **argv)
+{
+     testing::InitGoogleTest(&argc, argv);
+     g_argc = argc;
+     g_argv = argv;
+     return RUN_ALL_TESTS();
+}