spline_smoother: test_clamped_cubic_spline

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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<motion_planning_msgs::JointTrajectoryWithLimits>::MAX_TRIDIAGONAL_SOLVER_ELEMENTS - 2;
00048 
00049   motion_planning_msgs::JointTrajectoryWithLimits wpt;
00050   motion_planning_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<motion_planning_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<motion_planning_msgs::JointTrajectoryWithLimits>::MAX_TRIDIAGONAL_SOLVER_ELEMENTS-2;
00078 
00079   motion_planning_msgs::JointTrajectoryWithLimits wpt;
00080   motion_planning_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<motion_planning_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 }
test_clamped_cubic_spline_smoother.cpp
