text: 
  /* Copyright 2019, LAAS-CNRS
   *
   * Olivier Stasse
   *
   */
  #include <sstream>
  #include <iostream>
  
  #include <example-robot-data/path.hpp>
  
  #include <dynamic-graph/factory.h>
  
  // Needed for sendMsg.
  #define ENABLE_RT_LOG
  #include <dynamic-graph/real-time-logger.h>
  
  #include <sot/torque_control/control-manager.hh>
  
  #include <sot/core/robot-utils.hh>
  #include <sot/core/debug.hh>
  
  #define BOOST_TEST_MODULE test - control - manager
  
  #include <boost/test/unit_test.hpp>
  #include <boost/test/output_test_stream.hpp>
  
  using boost::test_tools::output_test_stream;
  namespace dyn_sot_tc = dynamicgraph::sot::torque_control;
  
  BOOST_AUTO_TEST_CASE(testControlManager) {
    dgADD_OSTREAM_TO_RTLOG(std::cout);
  
    dyn_sot_tc::ControlManager &a_control_manager = *(dynamic_cast<dyn_sot_tc::ControlManager *>(
        dynamicgraph::FactoryStorage::getInstance()->newEntity("ControlManager", "a_control_manager")));
  
    a_control_manager.setLoggerVerbosityLevel(dynamicgraph::VERBOSITY_ALL);
  
    std::string robotRef("simple_humanoid_description");
    a_control_manager.init(0.001, EXAMPLE_ROBOT_DATA_MODEL_DIR "/simple_humanoid_description/urdf/simple_humanoid.urdf", robotRef);
  
    dynamicgraph::Vector av;
    a_control_manager.m_uSOUT.needUpdate(6);
  
    dynamicgraph::RealTimeLogger::destroy();
  }
  