test_transforms.cpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/transforms.h>
#include <urdf_parser/urdf_parser.h>
#include <fstream>
#include <gtest/gtest.h>

class LoadPlanningModelsPr2 : public testing::Test
{
protected:

  virtual void SetUp()
  {
    srdf_model_.reset(new srdf::Model());

    std::string xml_string;
    std::fstream xml_file("test/urdf/robot.xml", std::fstream::in);
    if (xml_file.is_open())
    {
      while ( xml_file.good() )
      {
        std::string line;
        std::getline( xml_file, line);
        xml_string += (line + "\n");
      }
      xml_file.close();
      urdf_model_ = urdf::parseURDF(xml_string);
      urdf_ok_ = urdf_model_;
    }
    else
      urdf_ok_ = false;
    srdf_ok_ = srdf_model_->initFile(*urdf_model_, "test/srdf/robot.xml");
  };

  virtual void TearDown()
  {
  }

protected:

  boost::shared_ptr<urdf::ModelInterface> urdf_model_;
  boost::shared_ptr<srdf::Model> srdf_model_;
  bool                           urdf_ok_;
  bool                           srdf_ok_;

};

TEST_F(LoadPlanningModelsPr2, InitOK)
{
  ASSERT_TRUE(urdf_ok_);
  ASSERT_EQ(urdf_model_->getName(), "pr2_test");

  robot_model::RobotModelPtr kmodel(new robot_model::RobotModel(urdf_model_, srdf_model_));
  robot_state::RobotState ks(kmodel);
  ks.setToRandomValues();
  ks.setToDefaultValues();


  robot_state::Transforms tf(kmodel->getModelFrame());

  Eigen::Affine3d t1;
  t1.setIdentity();
  t1.translation() = Eigen::Vector3d(10.0, 1.0, 0.0);
  tf.setTransform(t1, "some_frame_1");

  Eigen::Affine3d t2(Eigen::Translation3d(10.0, 1.0, 0.0)*Eigen::AngleAxisd(0.5, Eigen::Vector3d::UnitY()));
  tf.setTransform(t2, "some_frame_2");

  Eigen::Affine3d t3;
  t3.setIdentity();
  t3.translation() = Eigen::Vector3d(0.0, 1.0, -1.0);
  tf.setTransform(t3, "some_frame_3");


  EXPECT_TRUE(tf.isFixedFrame("some_frame_1"));
  EXPECT_FALSE(tf.isFixedFrame("base_footprint"));
  EXPECT_TRUE(tf.isFixedFrame(kmodel->getModelFrame()));

  Eigen::Affine3d x;
  x.setIdentity();
  tf.transformPose(ks, "some_frame_2", x, x);

  EXPECT_TRUE(t2.translation() == x.translation());
  EXPECT_TRUE(t2.rotation() == x.rotation());

  tf.transformPose(ks, kmodel->getModelFrame(), x, x);
  EXPECT_TRUE(t2.translation() == x.translation());
  EXPECT_TRUE(t2.rotation() == x.rotation());

  x.setIdentity();
  tf.transformPose(ks, "r_wrist_roll_link", x, x);

  EXPECT_NEAR(x.translation().x(), 0.585315, 1e-4);
  EXPECT_NEAR(x.translation().y(), -0.188, 1e-4);
  EXPECT_NEAR(x.translation().z(), 1.24001, 1e-4);
}


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