[unitTestig] Fix test_control_manager.

python/dynamic_graph/sot/torque_control/tests/robot_data_test.py

@@ -104,9 +104,7 @@ class initRobotData:
   def init_and_set_controller_manager(self, cm):
     # Init should be called before addCtrlMode 
     # because the size of state vector must be known.
-    cm.init(self.controlDT,self.testRobotPath,
-            self.ctrlManagerCurrentToControlGain,
-            self.maxCurrent,self.robotRef)
+    cm.init(self.controlDT,self.testRobotPath,self.robotRef)
 
     # Set the map from joint name to joint ID
     for key in self.mapJointNameToID:
@@ -135,7 +133,4 @@ class initRobotData:
 
     cm.setRightFootSoleXYZ(self.RightFootSensorXYZ)
 
-    cm.setDefaultMaxCurrent(-10.0)
-    cm.setDefaultMaxCurrent(self.maxCurrent)
-    cm.getDefaultMaxCurrent()
 

python/dynamic_graph/sot/torque_control/tests/test_control_manager.py

@@ -22,13 +22,8 @@ cm.controlDT=0.005
 
 # Initializing the input ports
 # Setting the robot configuration
-cm.base6d_encoders.value=q
-cm.dq.value=dq
-cm.bemfFactor.value = bemfFactor
-cm.max_current.value = max_current
-cm.max_tau.value= max_tau
-cm.percentageDriverDeadZoneCompensation.value = percentageDriverDeadZoneCompensation
-cm.signWindowsFilterSize.value = signWindowsFilterSize
+cm.i_max.value = max_current
+cm.u_max.value= max_tau
 cm.tau.value = tau
 cm.tau_predicted.value = tau_predicted
 
@@ -46,7 +41,4 @@ cm.ctrl_torque.value = currentDes
 cm.ctrl_pos.value = pwmDes
 cm.setCtrlMode("all","pos")
 
-cm.pwmDes.recompute(10)
-cm.pwmDes.value
-