These are test programs, users may not want to look at these to understand how ARIA works, but after understanding ARIA may want to look at specific files in this directory to see some more complicated things. These are not documented much, each program trying only to do one or two things, which should be fairly self-evident from these descriptions and from the code. ------------------------------------------------------------------------------- absoluteHeadingActionTest - Tests an action with absolute heading. actionArgumentTest - Tests the ArArg class and the argument part of ArAction. actionAverageTest - Tests to make sure actions average right if at same priority (differently than samePriorityActionTest, slightly) actionManagementTest - Tests adding, removing, and finding actions. actsTest - Does a test print out from ACTS angleBetweenTest - Tests ArMath::angleBetween angleFixTest - Tests ArMath::angleFix angleTest - Tests some various things with angles asyncConnectTest - Connects to the robot, disconnects, and tries to break the connection state. This was designed to test the connection sequence. This uses ArRobot::asyncConnect. auxSerialTest - Dumps a lot of things out to aux serial port with TTY commands callbackTest - Tests the connection callbacks in ArRobot chargeTest - A test for charging with a powerbot dock configTest - Tests ArConfig reading in a file and writing files connectTest - Connects to the robot, disconnects, and tries to break the connection state. This was designed to test the connection sequence. This uses ArRobot::blockingConnect. connectionTest - Tests the connection by requesting IO packets as it drives about hard and fast (make sure it won't hurt anyone) driveFast - a test that drives the robot fast for a given distance encoderCorrectionTest - Connects to a robot with a joystick, pressing button two will set the encoder correction callback, just run it to see the args fileParserTest - just tests the file parser and shows how to use it a little functorTest - Does some extensive tests of functors gotoTest - Uses the ArActionGoto to go somewhere in a very naive way hardDriveWander - This drives about very hard and fast, only run this in lots of space where no one will get hurt interpolationTest - Tests the position interpolation functions on ArRobot ioTest - Tests the response time for IOREQUEST commands sent to the robot keyHandlerTest - Tests the keyhandler out keys - Lower level test of the keyhandler lineTest - Tests the used functionality of ArLine and ArLineSegment moveRobotTest - Drives the robot around, has different actions for pushing button 2, its to make sure that the ArRobot::moveTo(pos) command works in some fashion, and to check the transforms, just run the program to have it print its usage optoIOtest - This is a very simple test of using the Opto22 interface on the Versalogic motherboards in P2 and P3 robots. It also tests the analog p2osSlamTest - Sends lots of packets to the P2 to try and mess it up paramTest - Tests out some of the ArPreference parameter stuff poseTest - Tests out ArPose robotListTest - Tests some of the Aria:: functions that have to do with the robot list robotConfigPacketReaderTest - A test of getting the robot config packet rotvelActionExample - Tests out an action that drives using rot vel runtimeTest - Times how long the robot will run when doing a period of wandering, then a period of resting, then wandering and so on, until the battery dies. It runs ACTS while wandering, and pipes the display to another computer. samePriorityActionTest - Sees if actions average right when at the same priority (differently than actionAverageTest, slightly) segvTest - Causes a seg fault to see if its handled right serialTest - Test for checking for interference on a serial port serialTest2 - Another test for checking for interference on a serial port sickSimpleTest - A test used in the development of the sick driver sickMiddleTest - A test that prints out the middle readings of the laser continually sickTest - A test that connects to the laser then prints out a few sets of readings sickTestAll - A test that connects to the laser, turns off all filtering then prints out readings until killed signalTest - Prints out signals that come in to the program sonarDeviceTest - Prints out the sonar readings from the sonarDevice sonarTest - Prints out the sonar disk positions then prints out the sonar readings stallTest - Tests the stall behavior by going forward and ramming things, you should only use this one in the simulator, also can be set to go backwards stressTest - Creates 2 busy loops, and sees if the syncLoop still winds up with the right amount of time between runs stripQuotesTest - Just a tests that tests ArUtil::stripQuotes systemCallTest - Tests doing system calls and signals tcm2Test - Connects to the tcm2 compass and prints out its information threadTest - Does a rudamentary test on threading timeTest - Just does a simple test of the functions related to ArTime timingTest - Does a test of how long the syncLoop takes to run, prints out the results transformTest - Tests out ArTransform triangleAccuracyTest - Tests out the repeatability of ArActionTriangleDriveTo usertasktest - Tests the user task list that ArRobot maintains. vcc4Test - Test and exercise a vcc4 camera velTest - has the robot drive at set velocities (trans and rot) and prints out how fast it says its going