test_executive_functions.cpp

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/* Author: Wim Meeussen */

#include <door_msgs/Door.h>
#include <ros/node.h>
#include <gtest/gtest.h>
#include <door_handle_detector/door_functions.h>
#include "pr2_doors_actions/executive_functions.h"

using namespace ros;
using namespace std;
using namespace door_handle_detector;




int g_argc;
char** g_argv;

class TestEKF : public testing::Test
{
public:
  door_msgs::Door my_door_1, my_door_2;

protected:
  TestEKF()
  {
    my_door_1.frame_p1.x = 1.0;
    my_door_1.frame_p1.y = -0.5;
    my_door_1.frame_p2.x = 1.0;
    my_door_1.frame_p2.y = 0.5;
    my_door_1.door_p1.x = 1.0;
    my_door_1.door_p1.y = -0.5;
    my_door_1.door_p2.x = 1.0;
    my_door_1.door_p2.y = 0.5;
    my_door_1.normal.x = 1.0;
    my_door_1.normal.y = 0.0;
    my_door_1.normal.z = 0.0;
    my_door_1.rot_dir = door_msgs::Door::ROT_DIR_COUNTERCLOCKWISE;
    my_door_1.hinge = door_msgs::Door::HINGE_P2;
    my_door_1.header.frame_id = "base_footprint";
    
    my_door_2.frame_p1.x = -0.198;
    my_door_2.frame_p1.y = -1.08;
    my_door_2.frame_p2.x = 0.76;
    my_door_2.frame_p2.y = -0.82;
    my_door_2.door_p1.x = -0.08;
    my_door_2.door_p1.y = -1.12;
    my_door_2.door_p2.x = 0.70;
    my_door_2.door_p2.y = -0.87;
    my_door_2.normal.x = 0.29;
    my_door_2.normal.y = -0.95;
    my_door_2.normal.z = 0.0;
    my_door_2.rot_dir = door_msgs::Door::ROT_DIR_COUNTERCLOCKWISE;
    my_door_2.hinge = door_msgs::Door::HINGE_P2;
    my_door_2.header.frame_id = "base_footprint";
  }
  

  ~TestEKF()
  {}
};




TEST_F(TestEKF, test)
{
  tf::Stamped<tf::Pose> pose;

  pose = getRobotPose(my_door_2, 0.6);
  cout << "pose = " << pose.getOrigin()[0] << ", "  <<pose.getOrigin()[1] << ", " <<pose.getOrigin()[2] << endl;

  pose = getGripperPose(my_door_2, M_PI/4.0, 0.4);
  cout << "door = " << my_door_2 << endl;
  cout << "pose = " << pose.getOrigin()[0] << ", "  <<pose.getOrigin()[1] << ", " <<pose.getOrigin()[2] << endl;

  pose = getRobotPose(my_door_1, 0.7);
  ASSERT_TRUE(pose.getOrigin()[0] == 0.3);
  ASSERT_TRUE(pose.getOrigin()[1] == 0.0);
  ASSERT_TRUE(pose.getOrigin()[2] == 0.0);
  SUCCEED();
}




int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  g_argc = argc;
  g_argv = argv;
  return RUN_ALL_TESTS();
}