cyberglove: test_calibration.cpp Source File

00001 
00029 #include <ros/ros.h>
00030 
00031 #include <math.h>
00032 #include <cyberglove/xml_calibration_parser.h>
00033 #include <gtest/gtest.h>
00034 
00035 #define TEST_EXPRESSION(a) EXPECT_EQ((a), meval::EvaluateMathExpression(#a))
00036 
00037 using namespace ros;
00038 using namespace xml_calibration_parser;
00039 
00040 std::string path_to_calibration = "test/cyberglove_test.cal";
00041 
00042 float epsilon = 0.01f;
00043 
00044 XmlCalibrationParser calib_parser;
00045 
00046 TEST(LookupTable, testSimple)
00047 {
00048   float valtmp;
00049   valtmp = calib_parser.get_calibration_value(0.05f,"test1" );
00050   EXPECT_TRUE(fabs( valtmp - 50.0f ) < epsilon)
00051     << "Expected value : 50 "
00052     << "Received value : "<< valtmp;
00053 
00054   valtmp = calib_parser.get_calibration_value(0.1f,"test1" );
00055   EXPECT_TRUE(fabs( valtmp - 100.0f ) < epsilon)
00056     << "Expected value : 100 "
00057     << "Received value : "<< valtmp;
00058 
00059   valtmp = calib_parser.get_calibration_value(0.0f,"test1" );
00060   EXPECT_TRUE(fabs( valtmp - 0.0f ) < epsilon)
00061     << "Expected value : 0 "
00062     << "Received value : "<< valtmp;
00063 
00064   valtmp = calib_parser.get_calibration_value(0.2f,"test1" );
00065   EXPECT_TRUE(fabs( valtmp - 200.0f ) < epsilon)
00066     << "Expected value : 200 "
00067     << "Received value : "<< valtmp;
00068 }
00069 
00070 TEST(LookupTable, integrity)
00071 {
00072   std::vector<XmlCalibrationParser::JointCalibration> myCalib = calib_parser.getJointsCalibrations();
00073 
00074  EXPECT_EQ(4, myCalib.size());
00075  for(unsigned int i = 0; i<myCalib.size() ; ++i)
00076    {
00077      EXPECT_EQ(2, myCalib[i].calibrations.size());
00078    }
00079 }
00080 
00081 TEST(LookupTable, testCalibNotStartingAtZero)
00082 {
00083   float valtmp;
00084   valtmp = calib_parser.get_calibration_value(0.05f,"test2" );
00085   EXPECT_TRUE(fabs( valtmp - 35.0f ) < epsilon)
00086     << "Expected value : 35 "
00087     << "Received value : "<< valtmp;
00088 
00089   valtmp = calib_parser.get_calibration_value(0.1f,"test2" );
00090   EXPECT_TRUE(fabs( valtmp - 60.0f ) < epsilon)
00091     << "Expected value : 60 "
00092     << "Received value : "<< valtmp;
00093 
00094   valtmp = calib_parser.get_calibration_value(0.0f,"test2" );
00095   EXPECT_TRUE(fabs( valtmp - 10.0f ) < epsilon)
00096     << "Expected value : 10 "
00097     << "Received value : "<< valtmp;
00098 
00099   valtmp = calib_parser.get_calibration_value(0.2f,"test2" );
00100   EXPECT_TRUE(fabs(valtmp - 110.0f ) < epsilon)
00101     << "Expected value : 110 "
00102     << "Received value : "<< valtmp;
00103 }
00104 
00105 TEST(LookupTable, testRawNotStartingAtZero)
00106 {
00107   float valtmp;
00108   valtmp = calib_parser.get_calibration_value(0.15f,"test3" );
00109   EXPECT_TRUE(fabs( valtmp - 35.0f ) < epsilon)
00110     << "Expected value : 35 "
00111     << "Received value : "<< valtmp;
00112 
00113   valtmp = calib_parser.get_calibration_value(0.2f,"test3" );
00114   EXPECT_TRUE(fabs( valtmp - 60.0f ) < epsilon)
00115     << "Expected value : 60 "
00116     << "Received value : "<< valtmp;
00117 
00118   valtmp = calib_parser.get_calibration_value(0.1f,"test3" );
00119   EXPECT_TRUE(fabs( valtmp - 10.0f ) < epsilon)
00120     << "Expected value : 10 "
00121     << "Received value : "<< valtmp;
00122 
00123   valtmp = calib_parser.get_calibration_value(0.3f,"test3" );
00124   EXPECT_TRUE(fabs(valtmp - 110.0f ) < epsilon)
00125     << "Expected value : 110 "
00126     << "Received value : "<< valtmp;
00127 }
00128 
00129 TEST(LookupTable, tableNotOrdered)
00130 {
00131   float valtmp;
00132   valtmp = calib_parser.get_calibration_value(0.05f,"test4" );
00133   EXPECT_TRUE(fabs( valtmp - 35.0f ) < epsilon)
00134     << "Expected value : 35 "
00135     << "Received value : "<< valtmp;
00136 
00137   valtmp = calib_parser.get_calibration_value(0.1f,"test4" );
00138   EXPECT_TRUE(fabs( valtmp - 10.0f ) < epsilon)
00139     << "Expected value : 10 "
00140     << "Received value : "<< valtmp;
00141 
00142   valtmp = calib_parser.get_calibration_value(0.0f,"test4" );
00143   EXPECT_TRUE(fabs( valtmp - 60.0f ) < epsilon)
00144     << "Expected value : 60 "
00145     << "Received value : "<< valtmp;
00146 
00147   valtmp = calib_parser.get_calibration_value(0.2f,"test4" );
00148   EXPECT_TRUE(fabs( valtmp + 40.0f) < epsilon)
00149     << "Expected value : -40 "
00150     << "Received value : "<< valtmp;
00151 }
00152 
00153 // Run all the tests that were declared with TEST()
00154 int main(int argc, char **argv){
00155 
00156   calib_parser = XmlCalibrationParser(path_to_calibration);
00157 
00158   testing::InitGoogleTest(&argc, argv);
00159   return RUN_ALL_TESTS();
00160 
00161 }