planning_models: planning_models: test_kinematic.cpp Source File

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00034 
00037 #include <planning_models/kinematic_model.h>
00038 #include <planning_models/kinematic_state.h>
00039 #include <gtest/gtest.h>
00040 #include <sstream>
00041 #include <ctype.h>
00042 
00043 static bool sameStringIgnoringWS(const std::string &s1, const std::string &s2)
00044 {
00045   unsigned int i1 = 0;
00046   unsigned int i2 = 0;
00047   while (i1 < s1.size() && isspace(s1[i1])) i1++;
00048   while (i2 < s2.size() && isspace(s2[i2])) i2++;
00049   while (i1 < s1.size() && i2 < s2.size())
00050   {
00051     if (i1 < s1.size() && i2 < s2.size())
00052     {
00053       if (s1[i1] != s2[i2])
00054         return false;
00055       i1++;
00056       i2++;
00057     }
00058     while (i1 < s1.size() && isspace(s1[i1])) i1++;
00059     while (i2 < s2.size() && isspace(s2[i2])) i2++;
00060   }
00061   return i1 == s1.size() && i2 == s2.size();
00062 }
00063 
00064 TEST(Loading, SimpleRobot)
00065 {
00066   static const std::string MODEL0 = 
00067     "<?xml version=\"1.0\" ?>" 
00068     "<robot name=\"myrobot\">" 
00069     "  <link name=\"base_link\">"
00070     "    <collision name=\"base_collision\">"
00071     "    <origin rpy=\"0 0 0\" xyz=\"0 0 0.165\"/>"
00072     "    <geometry name=\"base_collision_geom\">"
00073     "      <box size=\"0.65 0.65 0.23\"/>"
00074     "    </geometry>"
00075     "    </collision>"
00076     "   </link>"
00077     "</robot>";
00078 
00079   std::vector<planning_models::KinematicModel::MultiDofConfig> multi_dof_configs;
00080   planning_models::KinematicModel::MultiDofConfig config("base_joint");
00081   config.type = "Floating";
00082   config.parent_frame_id = "odom_combined";
00083   config.child_frame_id = "base_link";
00084   multi_dof_configs.push_back(config);
00085 
00086   urdf::Model urdfModel;
00087   urdfModel.initString(MODEL0);
00088     
00089   std::vector<planning_models::KinematicModel::GroupConfig> gcs;
00090   planning_models::KinematicModel* model = new planning_models::KinematicModel(urdfModel,gcs,multi_dof_configs);
00091  
00092   //bracketing so the state gets destroyed before we bring down the model
00093   {
00094     planning_models::KinematicState state(model);
00095 
00096     state.setKinematicStateToDefault();
00097 
00098     //make sure that this copy constructor works
00099     planning_models::KinematicState new_state(state);
00100 
00101     //(0,0,0,0) isn't a valid quaternion, so the w should be 1
00102     std::map<std::string, double> state_values;
00103     new_state.getKinematicStateValues(state_values);
00104 
00105     EXPECT_EQ(state_values["floating_rot_w"], 1.0);
00106 
00107     EXPECT_EQ(std::string("myrobot"), model->getName());
00108     EXPECT_EQ((unsigned int)7, new_state.getDimension());
00109     
00110     const std::vector<planning_models::KinematicModel::LinkModel*>& links = model->getLinkModels();
00111     EXPECT_EQ((unsigned int)1, links.size());
00112     
00113     const std::vector<planning_models::KinematicModel::JointModel*>& joints = model->getJointModels();
00114     EXPECT_EQ((unsigned int)1, joints.size());
00115     
00116     std::vector<std::string> pgroups;
00117     model->getModelGroupNames(pgroups);    
00118     EXPECT_EQ((unsigned int)0, pgroups.size());
00119   }
00120 
00121   delete model;
00122 }
00123 
00124 TEST(LoadingAndFK, SimpleRobot)
00125 {   
00126   static const std::string MODEL1 = 
00127     "<?xml version=\"1.0\" ?>" 
00128     "<robot name=\"myrobot\">" 
00129     "<link name=\"base_link\">"
00130     "  <inertial>"
00131     "    <mass value=\"2.81\"/>"
00132     "    <origin rpy=\"0 0 0\" xyz=\"0.0 0.099 .0\"/>"
00133     "    <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
00134     "  </inertial>"
00135     "  <collision name=\"my_collision\">"
00136     "    <origin rpy=\"0 0 -1\" xyz=\"-0.1 0 0\"/>"
00137     "    <geometry>"
00138     "      <box size=\"1 2 1\" />"
00139     "    </geometry>"
00140     "  </collision>"
00141     "  <visual>"
00142     "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
00143     "    <geometry>"
00144     "      <box size=\"1 2 1\" />"
00145     "    </geometry>"
00146     "  </visual>"
00147     "</link>"
00148     "</robot>";
00149     
00150   static const std::string MODEL1_INFO = 
00151     "Complete model state dimension = 3\n"
00152     "State bounds: [-3.14159, 3.14159] [-DBL_MAX, DBL_MAX] [-DBL_MAX, DBL_MAX]\n"
00153     "Root joint : base_joint \n"
00154     "Available groups: base \n"
00155     "Group base has 1 roots: base_joint \n";
00156 
00157   std::vector<planning_models::KinematicModel::MultiDofConfig> multi_dof_configs;
00158   planning_models::KinematicModel::MultiDofConfig config("base_joint");
00159   config.type = "Planar";
00160   config.parent_frame_id = "odom_combined";
00161   config.child_frame_id = "base_link";
00162   multi_dof_configs.push_back(config);
00163     
00164   urdf::Model urdfModel;
00165   urdfModel.initString(MODEL1);
00166 
00167   std::vector<std::string> gc_joints;
00168   gc_joints.push_back("base_joint");
00169   std::vector<std::string> empty;
00170   std::vector<planning_models::KinematicModel::GroupConfig> gcs;
00171   gcs.push_back(planning_models::KinematicModel::GroupConfig("base", gc_joints, empty));
00172 
00173   planning_models::KinematicModel* model(new planning_models::KinematicModel(urdfModel,gcs,multi_dof_configs));
00174 
00175   //bracketing so the state gets destroyed before we bring down the model
00176   {    
00177     planning_models::KinematicState state(model);
00178     
00179     EXPECT_EQ((unsigned int)3, state.getDimension());
00180     
00181     state.setKinematicStateToDefault();
00182 
00183     const std::vector<planning_models::KinematicState::JointState*>& joint_states = state.getJointStateVector();
00184     EXPECT_EQ((unsigned int)1, joint_states.size());
00185     EXPECT_EQ((unsigned int)3, joint_states[0]->getJointStateValues().size());
00186     
00187     std::stringstream ssi;
00188     state.printStateInfo(ssi);
00189     EXPECT_TRUE(sameStringIgnoringWS(MODEL1_INFO, ssi.str())) << ssi.str();
00190     
00191     
00192     std::map<std::string, double> joint_values;
00193     joint_values["planar_x"]=10.0;
00194     joint_values["planar_y"]=8.0;
00195     
00196     //testing incomplete state
00197     std::vector<std::string> missing_states;
00198     EXPECT_FALSE(state.setKinematicState(joint_values,
00199                                          missing_states));
00200     ASSERT_EQ(missing_states.size(),1);
00201     EXPECT_EQ(missing_states[0],std::string("planar_th"));
00202     joint_values["planar_th"]=0.0;
00203 
00204     EXPECT_TRUE(state.setKinematicState(joint_values,
00205                                          missing_states));
00206     ASSERT_EQ(missing_states.size(),0);
00207 
00208     EXPECT_NEAR(10.0, state.getLinkState("base_link")->getGlobalLinkTransform().getOrigin().x(), 1e-5);
00209     EXPECT_NEAR(8.0, state.getLinkState("base_link")->getGlobalLinkTransform().getOrigin().y(), 1e-5);
00210     EXPECT_NEAR(0.0, state.getLinkState("base_link")->getGlobalLinkTransform().getOrigin().z(), 1e-5);
00211 
00212     //making sure that values get copied
00213     planning_models::KinematicState new_state(state);
00214     EXPECT_NEAR(10.0, new_state.getLinkState("base_link")->getGlobalLinkTransform().getOrigin().x(), 1e-5);
00215     EXPECT_NEAR(8.0, new_state.getLinkState("base_link")->getGlobalLinkTransform().getOrigin().y(), 1e-5);
00216     EXPECT_NEAR(0.0, new_state.getLinkState("base_link")->getGlobalLinkTransform().getOrigin().z(), 1e-5);
00217     
00218     const std::map<std::string, unsigned int>& ind_map = state.getKinematicStateIndexMap();
00219     std::vector<double> jv(state.getDimension(), 0.0);
00220     jv[ind_map.at("planar_x")] = 10.0;
00221     jv[ind_map.at("planar_y")] = 8.0;
00222     jv[ind_map.at("planar_th")] = 0.0;
00223     
00224     state.setKinematicState(jv);
00225     EXPECT_NEAR(10.0, state.getLinkState("base_link")->getGlobalLinkTransform().getOrigin().x(), 1e-5);
00226     EXPECT_NEAR(8.0, state.getLinkState("base_link")->getGlobalLinkTransform().getOrigin().y(), 1e-5);
00227     EXPECT_NEAR(0.0, state.getLinkState("base_link")->getGlobalLinkTransform().getOrigin().z(), 1e-5);
00228   } 
00229   delete model;
00230 }
00231 
00232 TEST(FK, OneRobot)
00233 {
00234   static const std::string MODEL2 = 
00235     "<?xml version=\"1.0\" ?>" 
00236     "<robot name=\"one_robot\">"
00237     "<link name=\"base_link\">"
00238     "  <inertial>"
00239     "    <mass value=\"2.81\"/>"
00240     "    <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
00241     "    <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
00242     "  </inertial>"
00243     "  <collision name=\"my_collision\">"
00244     "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
00245     "    <geometry>"
00246     "      <box size=\"1 2 1\" />"
00247     "    </geometry>"
00248     "  </collision>"
00249     "  <visual>"
00250     "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
00251     "    <geometry>"
00252     "      <box size=\"1 2 1\" />"
00253     "    </geometry>"
00254     "  </visual>"
00255     "</link>"
00256     "<joint name=\"joint_a\" type=\"continuous\">"
00257     "   <axis xyz=\"0 0 1\"/>"
00258     "   <parent link=\"base_link\"/>"
00259     "   <child link=\"link_a\"/>"
00260     "   <origin rpy=\" 0.0 0 0 \" xyz=\"0.0 0 0 \"/>"
00261     "</joint>"
00262     "<link name=\"link_a\">"
00263     "  <inertial>"
00264     "    <mass value=\"1.0\"/>"
00265     "    <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
00266     "    <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
00267     "  </inertial>"
00268     "  <collision>"
00269     "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
00270     "    <geometry>"
00271     "      <box size=\"1 2 1\" />"
00272     "    </geometry>"
00273     "  </collision>"
00274     "  <visual>"
00275     "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
00276     "    <geometry>"
00277     "      <box size=\"1 2 1\" />"
00278     "    </geometry>"
00279     "  </visual>"
00280     "</link>"
00281     "<joint name=\"joint_b\" type=\"fixed\">"
00282     "  <parent link=\"link_a\"/>"
00283     "  <child link=\"link_b\"/>"
00284     "  <origin rpy=\" 0.0 -0.42 0 \" xyz=\"0.0 0.5 0 \"/>"
00285     "</joint>"
00286     "<link name=\"link_b\">"
00287     "  <inertial>"
00288     "    <mass value=\"1.0\"/>"
00289     "    <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
00290     "    <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
00291     "  </inertial>"
00292     "  <collision>"
00293     "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
00294     "    <geometry>"
00295     "      <box size=\"1 2 1\" />"
00296     "    </geometry>"
00297     "  </collision>"
00298     "  <visual>"
00299     "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
00300     "    <geometry>"
00301     "      <box size=\"1 2 1\" />"
00302     "    </geometry>"
00303     "  </visual>"
00304     "</link>"
00305     "  <joint name=\"joint_c\" type=\"prismatic\">"
00306     "    <axis xyz=\"1 0 0\"/>"
00307     "    <limit effort=\"100.0\" lower=\"0.0\" upper=\"0.09\" velocity=\"0.2\"/>"
00308     "    <safety_controller k_position=\"20.0\" k_velocity=\"500.0\" soft_lower_limit=\"0.0\" soft_upper_limit=\"0.089\"/>"
00309     "    <parent link=\"link_b\"/>"
00310     "    <child link=\"link_c\"/>"
00311     "    <origin rpy=\" 0.0 0.42 0.0 \" xyz=\"0.0 -0.1 0 \"/>"
00312     "  </joint>"
00313     "<link name=\"link_c\">"
00314     "  <inertial>"
00315     "    <mass value=\"1.0\"/>"
00316     "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 .0\"/>"
00317     "    <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
00318     "  </inertial>"
00319     "  <collision>"
00320     "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
00321     "    <geometry>"
00322     "      <box size=\"1 2 1\" />"
00323     "    </geometry>"
00324     "  </collision>"
00325     "  <visual>"
00326     "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
00327     "    <geometry>"
00328     "      <box size=\"1 2 1\" />"
00329     "    </geometry>"
00330     "  </visual>"
00331     "</link>"
00332     "</robot>";
00333     
00334   static const std::string MODEL2_INFO = 
00335     "Complete model state dimension = 5\n"
00336     "State bounds: [-3.14159, 3.14159] [-DBL_MAX, DBL_MAX] [-DBL_MAX, DBL_MAX] [-3.14159, 3.14159] [0.00000, 0.08900]\n"
00337     "Root joint : base_joint \n"
00338     "Available groups: base_from_base_to_tip base_from_joints base_with_subgroups \n"
00339     "Group base_from_base_to_tip has 1 roots: base_joint  \n"
00340     "Group base_from_joints has 1 roots: base_joint \n"
00341     "Group base_with_subgroups has 1 roots: base_joint \n";
00342     
00343 
00344   urdf::Model urdfModel;
00345   urdfModel.initString(MODEL2);
00346 
00347   std::vector<std::string> gc_joints;
00348   gc_joints.push_back("base_joint");
00349   gc_joints.push_back("joint_a");
00350   gc_joints.push_back("joint_c");
00351   std::vector<std::string> subgroups;
00352   std::vector<planning_models::KinematicModel::GroupConfig> gcs;
00353   gcs.push_back(planning_models::KinematicModel::GroupConfig("base_from_joints", gc_joints, subgroups));
00354 
00355   //defining this in the list before the actual subgroup to make sure that works
00356   std::vector<std::string> extra_joint;
00357   extra_joint.push_back("joint_c");
00358   subgroups.push_back("base_from_base_to_tip");
00359   gcs.push_back(planning_models::KinematicModel::GroupConfig("base_with_subgroups", extra_joint, subgroups));
00360     
00361   //not making this all the way to joint_c intentionally
00362   gcs.push_back(planning_models::KinematicModel::GroupConfig("base_from_base_to_tip","odom_combined","link_b"));
00363 
00364   //now adding a fake one
00365   subgroups.push_back("monkey_group");
00366   gcs.push_back(planning_models::KinematicModel::GroupConfig("base_with_bad_subgroups", extra_joint, subgroups));
00367 
00368   std::vector<planning_models::KinematicModel::MultiDofConfig> multi_dof_configs;
00369   planning_models::KinematicModel::MultiDofConfig config("base_joint");
00370   config.type = "Planar";
00371   config.parent_frame_id = "odom_combined";
00372   config.child_frame_id = "base_link";
00373   multi_dof_configs.push_back(config);
00374     
00375   planning_models::KinematicModel* model = new planning_models::KinematicModel(urdfModel,gcs,multi_dof_configs);
00376     
00377   //testing that the two planning groups are the same
00378   const planning_models::KinematicModel::JointModelGroup* g_one = model->getModelGroup("base_from_joints");
00379   const planning_models::KinematicModel::JointModelGroup* g_two = model->getModelGroup("base_from_base_to_tip");
00380   const planning_models::KinematicModel::JointModelGroup* g_three = model->getModelGroup("base_with_subgroups");
00381   const planning_models::KinematicModel::JointModelGroup* g_four = model->getModelGroup("base_with_bad_subgroups");
00382 
00383   ASSERT_TRUE(g_one != NULL);
00384   ASSERT_TRUE(g_two != NULL);
00385   ASSERT_TRUE(g_three != NULL);
00386   ASSERT_TRUE(g_four == NULL);
00387 
00388   //joint_b is a fixed joint, so no one should have it
00389   ASSERT_EQ(g_one->getJointModelNames().size(), 3); 
00390   ASSERT_EQ(g_two->getJointModelNames().size(), 2); 
00391   ASSERT_EQ(g_three->getJointModelNames().size(), 3); 
00392 
00393   //only the links in between the joints, and the children of the leafs
00394   ASSERT_EQ(g_one->getGroupLinkModels().size(), 4);
00395   //g_two only has three links
00396   ASSERT_EQ(g_two->getGroupLinkModels().size(), 3);
00397   ASSERT_EQ(g_three->getGroupLinkModels().size(), 4);
00398     
00399   EXPECT_EQ(g_one->getJointModelNames()[0],"base_joint");
00400   EXPECT_EQ(g_one->getJointModelNames()[1],"joint_a");
00401   EXPECT_EQ(g_one->getJointModelNames()[2],"joint_c");
00402   EXPECT_EQ(g_two->getJointModelNames()[0],"base_joint");
00403   EXPECT_EQ(g_two->getJointModelNames()[1],"joint_a");
00404   EXPECT_EQ(g_three->getJointModelNames()[0],"base_joint");
00405   EXPECT_EQ(g_three->getJointModelNames()[1],"joint_a");
00406   EXPECT_EQ(g_three->getJointModelNames()[2],"joint_c");
00407 
00408   //but they should have the same links to be updated
00409   ASSERT_EQ(g_one->getUpdatedLinkModels().size(), 4);
00410   ASSERT_EQ(g_two->getUpdatedLinkModels().size(), 4);
00411   ASSERT_EQ(g_three->getUpdatedLinkModels().size(), 4);
00412 
00413   EXPECT_EQ(g_one->getUpdatedLinkModels()[0]->getName(),"base_link");
00414   EXPECT_EQ(g_one->getUpdatedLinkModels()[1]->getName(),"link_a");
00415   EXPECT_EQ(g_one->getUpdatedLinkModels()[2]->getName(),"link_b");
00416   EXPECT_EQ(g_one->getUpdatedLinkModels()[3]->getName(),"link_c");
00417 
00418   EXPECT_EQ(g_two->getUpdatedLinkModels()[0]->getName(),"base_link");
00419   EXPECT_EQ(g_two->getUpdatedLinkModels()[1]->getName(),"link_a");
00420   EXPECT_EQ(g_two->getUpdatedLinkModels()[2]->getName(),"link_b");
00421   EXPECT_EQ(g_two->getUpdatedLinkModels()[3]->getName(),"link_c");
00422 
00423   EXPECT_EQ(g_three->getUpdatedLinkModels()[0]->getName(),"base_link");
00424   EXPECT_EQ(g_three->getUpdatedLinkModels()[1]->getName(),"link_a");
00425   EXPECT_EQ(g_three->getUpdatedLinkModels()[2]->getName(),"link_b");
00426   EXPECT_EQ(g_three->getUpdatedLinkModels()[3]->getName(),"link_c");
00427 
00428   //bracketing so the state gets destroyed before we bring down the model
00429   {
00430     planning_models::KinematicState state(model);
00431     
00432     EXPECT_EQ((unsigned int)5, state.getDimension());
00433 
00434     state.setKinematicStateToDefault();
00435 
00436     std::map<std::string, double> joint_values;
00437     joint_values["planar_x"]=1.0;
00438     joint_values["planar_y"]=1.0;
00439     joint_values["planar_th"]=0.5;
00440     joint_values["joint_a"] = -0.5;
00441     joint_values["joint_c"] = 0.1;
00442     state.getJointStateGroup("base_from_joints")->setKinematicState(joint_values);
00443     
00444     //double param[5] = { 1, 1, 0.5, -0.5, 0.1 };
00445     //model->getGroup("base")->computeTransforms(param);
00446     
00447     std::stringstream ss1;
00448     state.printStateInfo(ss1);
00449     EXPECT_TRUE(sameStringIgnoringWS(MODEL2_INFO, ss1.str())) << MODEL2_INFO << "\n" << ss1.str();
00450     state.printTransforms(ss1);
00451     
00452     //make sure it works the same way for the whole robot
00453     state.setKinematicState(joint_values);
00454     std::stringstream ss2;
00455     state.printStateInfo(ss2);
00456     state.printTransforms(ss2);
00457     
00458     EXPECT_EQ(ss1.str(), ss2.str());
00459     
00460     EXPECT_NEAR(1.0, state.getLinkState("base_link")->getGlobalLinkTransform().getOrigin().x(), 1e-5);
00461     EXPECT_NEAR(1.0, state.getLinkState("base_link")->getGlobalLinkTransform().getOrigin().y(), 1e-5);
00462     EXPECT_NEAR(0.0, state.getLinkState("base_link")->getGlobalLinkTransform().getOrigin().z(), 1e-5);
00463     EXPECT_NEAR(0.0, state.getLinkState("base_link")->getGlobalLinkTransform().getRotation().x(), 1e-5);
00464     EXPECT_NEAR(0.0, state.getLinkState("base_link")->getGlobalLinkTransform().getRotation().y(), 1e-5);
00465     EXPECT_NEAR(0.247404, state.getLinkState("base_link")->getGlobalLinkTransform().getRotation().z(), 1e-5);
00466     EXPECT_NEAR(0.968912, state.getLinkState("base_link")->getGlobalLinkTransform().getRotation().w(), 1e-5);
00467     
00468     EXPECT_NEAR(1.0, state.getLinkState("link_a")->getGlobalLinkTransform().getOrigin().x(), 1e-5);
00469     EXPECT_NEAR(1.0, state.getLinkState("link_a")->getGlobalLinkTransform().getOrigin().y(), 1e-5);
00470     EXPECT_NEAR(0.0, state.getLinkState("link_a")->getGlobalLinkTransform().getOrigin().z(), 1e-5);
00471     EXPECT_NEAR(0.0, state.getLinkState("link_a")->getGlobalLinkTransform().getRotation().x(), 1e-5);
00472     EXPECT_NEAR(0.0, state.getLinkState("link_a")->getGlobalLinkTransform().getRotation().y(), 1e-5);
00473     EXPECT_NEAR(0.0, state.getLinkState("link_a")->getGlobalLinkTransform().getRotation().z(), 1e-5);
00474     EXPECT_NEAR(1.0, state.getLinkState("link_a")->getGlobalLinkTransform().getRotation().w(), 1e-5);
00475     
00476     EXPECT_NEAR(1.0, state.getLinkState("link_b")->getGlobalLinkTransform().getOrigin().x(), 1e-5);
00477     EXPECT_NEAR(1.5, state.getLinkState("link_b")->getGlobalLinkTransform().getOrigin().y(), 1e-5);
00478     EXPECT_NEAR(0.0, state.getLinkState("link_b")->getGlobalLinkTransform().getOrigin().z(), 1e-5);
00479     EXPECT_NEAR(0.0, state.getLinkState("link_b")->getGlobalLinkTransform().getRotation().x(), 1e-5);
00480     EXPECT_NEAR(-0.20846, state.getLinkState("link_b")->getGlobalLinkTransform().getRotation().y(), 1e-5);
00481     EXPECT_NEAR(0.0, state.getLinkState("link_b")->getGlobalLinkTransform().getRotation().z(), 1e-5);
00482     EXPECT_NEAR(0.978031, state.getLinkState("link_b")->getGlobalLinkTransform().getRotation().w(), 1e-5);
00483     
00484     EXPECT_NEAR(1.1, state.getLinkState("link_c")->getGlobalLinkTransform().getOrigin().x(), 1e-5);
00485     EXPECT_NEAR(1.4, state.getLinkState("link_c")->getGlobalLinkTransform().getOrigin().y(), 1e-5);
00486     EXPECT_NEAR(0.0, state.getLinkState("link_c")->getGlobalLinkTransform().getOrigin().z(), 1e-5);
00487     EXPECT_NEAR(0.0, state.getLinkState("link_c")->getGlobalLinkTransform().getRotation().x(), 1e-5);
00488     EXPECT_NEAR(0.0, state.getLinkState("link_c")->getGlobalLinkTransform().getRotation().y(), 1e-5);
00489     EXPECT_NEAR(0.0, state.getLinkState("link_c")->getGlobalLinkTransform().getRotation().z(), 1e-5);
00490     EXPECT_NEAR(1.0, state.getLinkState("link_c")->getGlobalLinkTransform().getRotation().w(), 1e-5);
00491 
00492     //bonus bounds lookup test
00493     std::vector<std::string> jn;
00494     jn.push_back("planar_x");
00495     jn.push_back("planar_th");
00496     jn.push_back("base_joint");
00497     EXPECT_TRUE(state.areJointsWithinBounds(jn));
00498     
00499     jn.push_back("monkey");
00500     EXPECT_FALSE(state.areJointsWithinBounds(jn));
00501   }
00502 
00503   delete model;
00504 }
00505 int main(int argc, char **argv)
00506 {
00507   testing::InitGoogleTest(&argc, argv);
00508   return RUN_ALL_TESTS();
00509 }