BaseGripperConverterTest.cpp

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#include <gtest/gtest.h>
#include "robodyn_utilities/BaseGripperConverter.h"

class BaseGripperConverterTest : public ::testing::Test
{
protected:
    virtual void SetUp()
    {
        baseR      = "r2/right_leg/gripper/tip";
        baseL      = "r2/left_leg/gripper/tip";
        gripperR   = "r2/right_leg/gripper/joint0";
        gripperL   = "r2/left_leg/gripper/joint0";
        crazy      = "r2/robot_world";
        wrongTip   = "r2/right_leg/tip/gripper";
        wrongJoint = "r2/left_leg/joint0/gripper";

    }

    virtual void TearDown()
    {
    }

    BaseGripperConverter bgc;
    std::string          baseR, baseL, gripperR, gripperL, crazy, wrongTip, wrongJoint;
};

TEST_F(BaseGripperConverterTest, BaseFrameToGripperTest)
{
    EXPECT_EQ(gripperL, bgc.BaseFrameToGripper(baseL));
    EXPECT_EQ(gripperR, bgc.BaseFrameToGripper(baseR));
    EXPECT_EQ(crazy,    bgc.BaseFrameToGripper(crazy));
    EXPECT_EQ(wrongTip, bgc.BaseFrameToGripper(wrongTip));
}

TEST_F(BaseGripperConverterTest, GripperToBaseFrameTest)
{
    EXPECT_EQ(baseL,      bgc.GripperToBaseFrame(gripperL));
    EXPECT_EQ(baseR,      bgc.GripperToBaseFrame(gripperR));
    EXPECT_EQ(crazy,      bgc.GripperToBaseFrame(crazy));
    EXPECT_EQ(wrongJoint, bgc.GripperToBaseFrame(wrongJoint));
}

TEST_F(BaseGripperConverterTest, FindOppositeTest)
{
    EXPECT_EQ(baseL,    bgc.FindOpposite(baseR));
    EXPECT_EQ(gripperR, bgc.FindOpposite(gripperL));
    EXPECT_EQ("",       bgc.FindOpposite(crazy));
}

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