Added the new fields to test_script_command_interface

Author: URJala

tests/test_script_command_interface.cpp

@@ -252,8 +252,8 @@ TEST_F(ScriptCommandInterfaceTest, test_force_mode)
   urcl::vector6d_t wrench = { 20, 0, 40, 0, 0, 0 };
   int32_t force_mode_type = 2;
   urcl::vector6d_t limits = { 0.1, 0.1, 0.1, 0.785, 0.785, 1.57 };
-  float damping = 0.8;
-  float gain_scaling = 0.8;
+  double damping = 0.8;
+  double gain_scaling = 0.8;
   script_command_interface_->startForceMode(&task_frame, &selection_vector, &wrench, force_mode_type, &limits, damping,
                                             gain_scaling);
 
@@ -301,8 +301,16 @@ TEST_F(ScriptCommandInterfaceTest, test_force_mode)
     EXPECT_EQ(received_limits[i], limits[i]);
   }
 
+  // Test damping return
+  double received_damping = (double)message[26] / script_command_interface_->MULT_JOINTSTATE;
+  EXPECT_EQ(received_damping, damping);
+
+  // Test Gain scaling return
+  double received_gain = (double)message[27] / script_command_interface_->MULT_JOINTSTATE;
+  EXPECT_EQ(received_gain, gain_scaling);
+
   // The rest of the message should be zero
-  int32_t message_sum = std::accumulate(std::begin(message) + 25, std::end(message), 0);
+  int32_t message_sum = std::accumulate(std::begin(message) + 27, std::end(message), 0);
   int32_t expected_message_sum = 0;
   EXPECT_EQ(message_sum, expected_message_sum);