test_clamped_cubic_spline_smoother.cpp

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#include <gtest/gtest.h>
#include <spline_smoother/splines.h>
#include <spline_smoother/clamped_cubic_spline_smoother.h>
#include <spline_smoother/numerical_differentiation_spline_smoother.h>
#include <arm_navigation_msgs/FilterJointTrajectory.h>
#include <stdlib.h>

using namespace spline_smoother;

TEST(TestClampedCubicSplineSmoother, TestZeroPositionsSmall)
{
  int length = ClampedCubicSplineSmoother<arm_navigation_msgs::FilterJointTrajectory>::MAX_TRIDIAGONAL_SOLVER_ELEMENTS - 2;

  arm_navigation_msgs::FilterJointTrajectory wpt;
  arm_navigation_msgs::FilterJointTrajectory wpt_out;
  wpt.request.trajectory.points.resize(length);
  wpt.request.trajectory.joint_names.resize(1);
  wpt.request.trajectory.joint_names[0] = std::string("test");
  for (int i=0; i<length; i++)
  {
    wpt.request.trajectory.points[i].positions.resize(1);
    wpt.request.trajectory.points[i].accelerations.resize(1);
    wpt.request.trajectory.points[i].velocities.resize(1);
    wpt.request.trajectory.points[i].positions[0] = 0.0;
    wpt.request.trajectory.points[i].velocities[0] = 0.0;
    wpt.request.trajectory.points[i].accelerations[0] = 0.0;
    wpt.request.trajectory.points[i].time_from_start = ros::Duration(i);
  }

  ClampedCubicSplineSmoother<arm_navigation_msgs::FilterJointTrajectory> ccss;
  ccss.smooth(wpt, wpt_out);

  // verify that velocities are 0:
  for (int i=0; i<length; i++)
  {
    EXPECT_NEAR(wpt_out.request.trajectory.points[i].velocities[0], 0.0, 1e-8);
  }
}

TEST(TestClampedCubicSplineSmoother, TestStraightLineSmall)
{
  int length = ClampedCubicSplineSmoother<arm_navigation_msgs::FilterJointTrajectory>::MAX_TRIDIAGONAL_SOLVER_ELEMENTS-2;

  arm_navigation_msgs::FilterJointTrajectory wpt;
  arm_navigation_msgs::FilterJointTrajectory wpt_out;
  wpt.request.trajectory.points.resize(length);
  wpt.request.trajectory.joint_names.resize(1);
  wpt.request.trajectory.joint_names[0] = std::string("test");
  for (int i=0; i<length; i++)
  {
    wpt.request.trajectory.points[i].positions.resize(1);
    wpt.request.trajectory.points[i].accelerations.resize(1);
    wpt.request.trajectory.points[i].velocities.resize(1);
    wpt.request.trajectory.points[i].positions[0] = i;
    wpt.request.trajectory.points[i].velocities[0] = 1.0;
    wpt.request.trajectory.points[i].accelerations[0] = 0.0;
    wpt.request.trajectory.points[i].time_from_start = ros::Duration(i);
  }

  ClampedCubicSplineSmoother<arm_navigation_msgs::FilterJointTrajectory> ccss;
  ccss.smooth(wpt, wpt_out);

  // verify that velocities are still 1:
  for (int i=0; i<length; i++)
  {
    EXPECT_NEAR(wpt.request.trajectory.points[i].velocities[0], 1.0, 1e-8);
  }
}