00001 #include <kinematics_msgs/utils.h>
00002 #include <gtest/gtest.h>
00003
00004 using namespace kinematics_msgs;
00005
00006 TEST(TestUtils,DefaultLinks)
00007 {
00008 std::vector<std::string> collision_enable, collision_disable, default_links, result;
00009 default_links.push_back("wrist");
00010 default_links.push_back("elbow");
00011 default_links.push_back("shoulder");
00012 getCollisionLinks(default_links,collision_enable,collision_disable,result);
00013 EXPECT_TRUE((int)result.size() == 3);
00014 EXPECT_TRUE(result[0] == default_links[0]);
00015 EXPECT_TRUE(result[1] == default_links[1]);
00016 EXPECT_TRUE(result[2] == default_links[2]);
00017 }
00018
00019 TEST(TestUtils,CollisionEnable)
00020 {
00021 std::vector<std::string> collision_enable, collision_disable, default_links, result;
00022
00023 default_links.push_back("wrist");
00024 default_links.push_back("elbow");
00025 default_links.push_back("shoulder");
00026
00027 collision_enable.push_back("head");
00028
00029 getCollisionLinks(default_links,collision_enable,collision_disable,result);
00030 EXPECT_TRUE((int)result.size() == 1);
00031 EXPECT_TRUE(result[0] == collision_enable[0]);
00032 }
00033
00034 TEST(TestUtils,CollisionDisable)
00035 {
00036 std::vector<std::string> collision_enable, collision_disable, default_links, result;
00037
00038 default_links.push_back("wrist");
00039 default_links.push_back("elbow");
00040 default_links.push_back("shoulder");
00041
00042 collision_disable.push_back("elbow");
00043
00044 getCollisionLinks(default_links,collision_enable,collision_disable,result);
00045 EXPECT_TRUE((int)result.size() == 2);
00046 EXPECT_TRUE(result[0] == default_links[0] || result[0] == default_links[2]);
00047 EXPECT_TRUE(result[1] == default_links[0] || result[1] == default_links[2]);
00048 }
00049
00050 TEST(TestUtils,CollisionEnableDisable)
00051 {
00052 std::vector<std::string> collision_enable, collision_disable, default_links, result;
00053
00054 default_links.push_back("wrist");
00055 default_links.push_back("elbow");
00056 default_links.push_back("shoulder");
00057
00058 collision_disable.push_back("elbow");
00059 collision_disable.push_back("foot");
00060
00061 collision_enable.push_back("gripper");
00062 collision_enable.push_back("head");
00063 collision_enable.push_back("wrist");
00064
00065 getCollisionLinks(default_links,collision_enable,collision_disable,result);
00066 EXPECT_TRUE((int)result.size() == 4);
00067
00068 for(unsigned int i=0; i < result.size(); i++)
00069 {
00070 EXPECT_TRUE(result[i] == "wrist" || result[i] == "shoulder" || result[i] == "gripper" || result[i] == "head");
00071 }
00072 }
00073
00074
00075 int main(int argc, char **argv){
00076 testing::InitGoogleTest(&argc, argv);
00077 return RUN_ALL_TESTS();
00078 }
