joint_states_deflater_unittest.cpp

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#include <gtest/gtest.h>
#include "joint_states_settler/joint_states_deflater.h"

using namespace std;
using namespace joint_states_settler;
using namespace sensor_msgs;

static const double eps = 1e-10;

TEST(JointStatesDeflator, easy1)
{
  JointStatesDeflater deflater;

  vector<string> joint_names;
  joint_names.resize(2);
  joint_names[0] = "A";
  joint_names[1] = "C";
  deflater.setDeflationJointNames(joint_names);

  JointStatePtr joint_states;
  DeflatedJointStates deflated_msg;
  JointState pruned;

  // ***********************************************

  joint_states.reset(new JointState);
  joint_states->name.resize(3);
  joint_states->position.resize(3);
  joint_states->velocity.resize(3);
  joint_states->effort.resize(3);
  joint_states->name[0] = "A";
  joint_states->name[1] = "B";
  joint_states->name[2] = "C";
  joint_states->position[0] = 1.0;
  joint_states->position[1] = 2.0;
  joint_states->position[2] = 3.0;

  deflater.deflate(joint_states, deflated_msg);
  deflater.prune(*joint_states, pruned);

  ASSERT_EQ(deflated_msg.channels_.size(), (unsigned int) 2);
  EXPECT_NEAR(deflated_msg.channels_[0], 1.0, eps);
  EXPECT_NEAR(deflated_msg.channels_[1], 3.0, eps);

  ASSERT_EQ(pruned.name.size(), (unsigned int) 2);
  ASSERT_EQ(pruned.position.size(), (unsigned int) 2);
  EXPECT_EQ(pruned.name[0], "A");
  EXPECT_EQ(pruned.name[1], "C");
  EXPECT_NEAR(pruned.position[0], 1.0, eps);
  EXPECT_NEAR(pruned.position[1], 3.0, eps);

  // ***********************************************

  joint_states.reset(new JointState);
  joint_states->name.resize(3);
  joint_states->position.resize(3);
  joint_states->velocity.resize(3);
  joint_states->effort.resize(3);
  joint_states->name[0] = "C";
  joint_states->name[1] = "A";
  joint_states->name[2] = "B";
  joint_states->position[0] = 4.0;
  joint_states->position[1] = 5.0;
  joint_states->position[2] = 6.0;

  deflater.deflate(joint_states, deflated_msg);
  deflater.prune(*joint_states, pruned);

  EXPECT_EQ(deflated_msg.channels_.size(), (unsigned int) 2);
  EXPECT_NEAR(deflated_msg.channels_[0], 5.0, eps);
  EXPECT_NEAR(deflated_msg.channels_[1], 4.0, eps);

  ASSERT_EQ(pruned.name.size(), (unsigned int) 2);
  ASSERT_EQ(pruned.position.size(), (unsigned int) 2);
  EXPECT_EQ(pruned.name[0], "A");
  EXPECT_EQ(pruned.name[1], "C");
  EXPECT_NEAR(pruned.position[0], 5.0, eps);
  EXPECT_NEAR(pruned.position[1], 4.0, eps);

  // ***********************************************

  joint_states.reset(new JointState);
  joint_states->name.resize(4);
  joint_states->position.resize(4);
  joint_states->velocity.resize(4);
  joint_states->effort.resize(4);
  joint_states->name[0] = "D";
  joint_states->name[1] = "C";
  joint_states->name[2] = "B";
  joint_states->name[3] = "A";
  joint_states->position[0] = 7.0;
  joint_states->position[1] = 8.0;
  joint_states->position[2] = 9.0;
  joint_states->position[3] = 10.0;

  deflater.deflate(joint_states, deflated_msg);
  deflater.prune(*joint_states, pruned);

  EXPECT_EQ(deflated_msg.channels_.size(), (unsigned int) 2);
  EXPECT_NEAR(deflated_msg.channels_[0], 10.0, eps);
  EXPECT_NEAR(deflated_msg.channels_[1], 8.0, eps);

  ASSERT_EQ(pruned.name.size(), (unsigned int) 2);
  ASSERT_EQ(pruned.position.size(), (unsigned int) 2);
  EXPECT_EQ(pruned.name[0], "A");
  EXPECT_EQ(pruned.name[1], "C");
  EXPECT_NEAR(pruned.position[0], 10.0, eps);
  EXPECT_NEAR(pruned.position[1],  8.0, eps);
}


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