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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #include <gtest/gtest.h> 00038 #include <spline_smoother/splines.h> 00039 #include <spline_smoother/clamped_cubic_spline_smoother.h> 00040 #include <spline_smoother/numerical_differentiation_spline_smoother.h> 00041 #include <stdlib.h> 00042 00043 using namespace spline_smoother; 00044 00045 TEST(TestClampedCubicSplineSmoother, TestZeroPositionsSmall) 00046 { 00047 int length = ClampedCubicSplineSmoother<arm_navigation_msgs::JointTrajectoryWithLimits>::MAX_TRIDIAGONAL_SOLVER_ELEMENTS - 2; 00048 00049 arm_navigation_msgs::JointTrajectoryWithLimits wpt; 00050 arm_navigation_msgs::JointTrajectoryWithLimits wpt_out; 00051 wpt.trajectory.points.resize(length); 00052 wpt.trajectory.joint_names.resize(1); 00053 wpt.trajectory.joint_names[0] = std::string("test"); 00054 for (int i=0; i<length; i++) 00055 { 00056 wpt.trajectory.points[i].positions.resize(1); 00057 wpt.trajectory.points[i].accelerations.resize(1); 00058 wpt.trajectory.points[i].velocities.resize(1); 00059 wpt.trajectory.points[i].positions[0] = 0.0; 00060 wpt.trajectory.points[i].velocities[0] = 0.0; 00061 wpt.trajectory.points[i].accelerations[0] = 0.0; 00062 wpt.trajectory.points[i].time_from_start = ros::Duration(i); 00063 } 00064 00065 ClampedCubicSplineSmoother<arm_navigation_msgs::JointTrajectoryWithLimits> ccss; 00066 ccss.smooth(wpt, wpt_out); 00067 00068 // verify that velocities are 0: 00069 for (int i=0; i<length; i++) 00070 { 00071 EXPECT_NEAR(wpt_out.trajectory.points[i].velocities[0], 0.0, 1e-8); 00072 } 00073 } 00074 00075 TEST(TestClampedCubicSplineSmoother, TestStraightLineSmall) 00076 { 00077 int length = ClampedCubicSplineSmoother<arm_navigation_msgs::JointTrajectoryWithLimits>::MAX_TRIDIAGONAL_SOLVER_ELEMENTS-2; 00078 00079 arm_navigation_msgs::JointTrajectoryWithLimits wpt; 00080 arm_navigation_msgs::JointTrajectoryWithLimits wpt_out; 00081 wpt.trajectory.points.resize(length); 00082 wpt.trajectory.joint_names.resize(1); 00083 wpt.trajectory.joint_names[0] = std::string("test"); 00084 for (int i=0; i<length; i++) 00085 { 00086 wpt.trajectory.points[i].positions.resize(1); 00087 wpt.trajectory.points[i].accelerations.resize(1); 00088 wpt.trajectory.points[i].velocities.resize(1); 00089 wpt.trajectory.points[i].positions[0] = i; 00090 wpt.trajectory.points[i].velocities[0] = 1.0; 00091 wpt.trajectory.points[i].accelerations[0] = 0.0; 00092 wpt.trajectory.points[i].time_from_start = ros::Duration(i); 00093 } 00094 00095 ClampedCubicSplineSmoother<arm_navigation_msgs::JointTrajectoryWithLimits> ccss; 00096 ccss.smooth(wpt, wpt_out); 00097 00098 // verify that velocities are still 1: 00099 for (int i=0; i<length; i++) 00100 { 00101 EXPECT_NEAR(wpt.trajectory.points[i].velocities[0], 1.0, 1e-8); 00102 } 00103 }