test_clamped_cubic_spline_smoother.cpp
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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 <arm_navigation_msgs/FilterJointTrajectory.h>
00042 #include <stdlib.h>
00043 
00044 using namespace spline_smoother;
00045 
00046 TEST(TestClampedCubicSplineSmoother, TestZeroPositionsSmall)
00047 {
00048   int length = ClampedCubicSplineSmoother<arm_navigation_msgs::FilterJointTrajectory>::MAX_TRIDIAGONAL_SOLVER_ELEMENTS - 2;
00049 
00050   arm_navigation_msgs::FilterJointTrajectory wpt;
00051   arm_navigation_msgs::FilterJointTrajectory wpt_out;
00052   wpt.request.trajectory.points.resize(length);
00053   wpt.request.trajectory.joint_names.resize(1);
00054   wpt.request.trajectory.joint_names[0] = std::string("test");
00055   for (int i=0; i<length; i++)
00056   {
00057     wpt.request.trajectory.points[i].positions.resize(1);
00058     wpt.request.trajectory.points[i].accelerations.resize(1);
00059     wpt.request.trajectory.points[i].velocities.resize(1);
00060     wpt.request.trajectory.points[i].positions[0] = 0.0;
00061     wpt.request.trajectory.points[i].velocities[0] = 0.0;
00062     wpt.request.trajectory.points[i].accelerations[0] = 0.0;
00063     wpt.request.trajectory.points[i].time_from_start = ros::Duration(i);
00064   }
00065 
00066   ClampedCubicSplineSmoother<arm_navigation_msgs::FilterJointTrajectory> ccss;
00067   ccss.smooth(wpt, wpt_out);
00068 
00069   // verify that velocities are 0:
00070   for (int i=0; i<length; i++)
00071   {
00072     EXPECT_NEAR(wpt_out.request.trajectory.points[i].velocities[0], 0.0, 1e-8);
00073   }
00074 }
00075 
00076 TEST(TestClampedCubicSplineSmoother, TestStraightLineSmall)
00077 {
00078   int length = ClampedCubicSplineSmoother<arm_navigation_msgs::FilterJointTrajectory>::MAX_TRIDIAGONAL_SOLVER_ELEMENTS-2;
00079 
00080   arm_navigation_msgs::FilterJointTrajectory wpt;
00081   arm_navigation_msgs::FilterJointTrajectory wpt_out;
00082   wpt.request.trajectory.points.resize(length);
00083   wpt.request.trajectory.joint_names.resize(1);
00084   wpt.request.trajectory.joint_names[0] = std::string("test");
00085   for (int i=0; i<length; i++)
00086   {
00087     wpt.request.trajectory.points[i].positions.resize(1);
00088     wpt.request.trajectory.points[i].accelerations.resize(1);
00089     wpt.request.trajectory.points[i].velocities.resize(1);
00090     wpt.request.trajectory.points[i].positions[0] = i;
00091     wpt.request.trajectory.points[i].velocities[0] = 1.0;
00092     wpt.request.trajectory.points[i].accelerations[0] = 0.0;
00093     wpt.request.trajectory.points[i].time_from_start = ros::Duration(i);
00094   }
00095 
00096   ClampedCubicSplineSmoother<arm_navigation_msgs::FilterJointTrajectory> ccss;
00097   ccss.smooth(wpt, wpt_out);
00098 
00099   // verify that velocities are still 1:
00100   for (int i=0; i<length; i++)
00101   {
00102     EXPECT_NEAR(wpt.request.trajectory.points[i].velocities[0], 1.0, 1e-8);
00103   }
00104 }


spline_smoother
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Thu Dec 12 2013 11:09:50