test_initializers.cpp File Reference

#include <exotica_core/exotica_core.h>
#include <exotica_core/tools/test_helpers.h>
#include <gtest/gtest.h>

Include dependency graph for test_initializers.cpp:

Go to the source code of this file.

Functions
int	main (int argc, char **argv)
	TEST (ExoticaTestInitializers, testRos)
	TEST (ExoticaTestInitializers, testCore)
	TEST (ExoticaTestInitializers, testGenericInit)
	TEST (ExoticaTestInitializers, testXMLInit)
bool	testCore ()
bool	testGenericInit ()
bool	testRos ()
bool	testXMLInit ()

Variables
int	argc_
char **	argv_
static const std::string	srdf_string = "<robot name=\"test_robot\"><group name=\"arm\"><chain base_link=\"base\" tip_link=\"endeff\" /></group><virtual_joint name=\"world_joint\" type=\"fixed\" parent_frame=\"world_frame\" child_link=\"base\" /><group_state name=\"zero\" group=\"arm\"><joint name=\"joint1\" value=\"0\" /><joint name=\"joint2\" value=\"0.3\" /><joint name=\"joint3\" value=\"0.55\" /></group_state><disable_collisions link1=\"base\" link2=\"link1\" reason=\"Adjacent\" /><disable_collisions link1=\"endeff\" link2=\"link3\" reason=\"Adjacent\" /><disable_collisions link1=\"link1\" link2=\"link2\" reason=\"Adjacent\" /><disable_collisions link1=\"link2\" link2=\"link3\" reason=\"Adjacent\" /></robot>"
static const std::string	urdf_string = "<robot name=\"test_robot\"><link name=\"base\"><visual><geometry><cylinder length=\"0.3\" radius=\"0.2\"/></geometry><origin xyz=\"0 0 0.15\"/></visual><collision><geometry><cylinder length=\"0.3\" radius=\"0.2\"/></geometry><origin xyz=\"0 0 0.15\"/></collision></link><link name=\"link1\"><inertial><mass value=\"0.2\"/><origin xyz=\"0 0 0.1\"/><inertia ixx=\"0.00381666666667\" ixy=\"0\" ixz=\"0\" iyy=\"0.0036\" iyz=\"0\" izz=\"0.00381666666667\"/></inertial><visual><geometry><cylinder length=\"0.15\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.075\"/></visual><collision><geometry><cylinder length=\"0.15\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.075\"/></collision></link><link name=\"link2\"><inertial><mass value=\"0.2\"/><origin xyz=\"0 0 0.1\"/><inertia ixx=\"0.00381666666667\" ixy=\"0\" ixz=\"0\" iyy=\"0.0036\" iyz=\"0\" izz=\"0.00381666666667\"/></inertial><visual><geometry><cylinder length=\"0.35\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.175\"/></visual><collision><geometry><cylinder length=\"0.35\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.175\"/></collision></link><link name=\"link3\"><inertial><mass value=\"0.2\"/><origin xyz=\"0 0 0.1\"/><inertia ixx=\"0.00381666666667\" ixy=\"0\" ixz=\"0\" iyy=\"0.0036\" iyz=\"0\" izz=\"0.00381666666667\"/></inertial><visual><geometry><cylinder length=\"0.45\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.225\"/></visual><collision><geometry><cylinder length=\"0.45\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.225\"/></collision></link><link name=\"endeff\"><inertial><mass value=\"0.2\"/><origin xyz=\"0 0 0.1\"/><inertia ixx=\"0.00381666666667\" ixy=\"0\" ixz=\"0\" iyy=\"0.0036\" iyz=\"0\" izz=\"0.00381666666667\"/></inertial><visual><geometry><cylinder length=\"0.05\" radius=\"0.1\"/></geometry><origin xyz=\"0 0 -0.025\"/></visual><collision><geometry><cylinder length=\"0.05\" radius=\"0.1\"/></geometry><origin xyz=\"0 0 -0.025\"/></collision></link><joint name=\"joint1\" type=\"revolute\"><parent link=\"base\"/><child link=\"link1\"/><origin xyz=\"0 0 0.3\" rpy=\"0 0 0\" /><axis xyz=\"0 0 1\" /><limit effort=\"200\" velocity=\"1.0\" lower=\"-0.4\" upper=\"0.4\"/><safety_controller k_position=\"30\" k_velocity=\"30\" soft_lower_limit=\"-0.4\" soft_upper_limit=\"0.4\"/></joint><joint name=\"joint2\" type=\"revolute\"><parent link=\"link1\"/><child link=\"link2\"/><origin xyz=\"0 0 0.15\" rpy=\"0 0 0\" /><axis xyz=\"0 1 0\" /><limit effort=\"200\" velocity=\"1.0\" lower=\"-0.4\" upper=\"0.4\"/><safety_controller k_position=\"30\" k_velocity=\"30\" soft_lower_limit=\"-0.4\" soft_upper_limit=\"0.4\"/></joint><joint name=\"joint3\" type=\"revolute\"><parent link=\"link2\"/><child link=\"link3\"/><origin xyz=\"0 0 0.35\" rpy=\"0 0 0\" /><axis xyz=\"0 1 0\" /><limit effort=\"200\" velocity=\"1.0\" lower=\"-0.4\" upper=\"0.4\"/><safety_controller k_position=\"30\" k_velocity=\"30\" soft_lower_limit=\"-0.4\" soft_upper_limit=\"0.4\"/></joint><joint name=\"joint4\" type=\"fixed\"><parent link=\"link3\"/><child link=\"endeff\"/><origin xyz=\"0 0 0.45\" rpy=\"0 0 0\" /></joint></robot>"

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 207 of file test_initializers.cpp.

TEST	(	ExoticaTestInitializers	,
		testRos
	)

Definition at line 157 of file test_initializers.cpp.

TEST	(	ExoticaTestInitializers	,
		testCore
	)

Definition at line 169 of file test_initializers.cpp.

TEST	(	ExoticaTestInitializers	,
		testGenericInit
	)

Definition at line 183 of file test_initializers.cpp.

TEST	(	ExoticaTestInitializers	,
		testXMLInit
	)

Definition at line 195 of file test_initializers.cpp.

bool testCore

(

)

Definition at line 42 of file test_initializers.cpp.

bool testGenericInit

(

)

Definition at line 62 of file test_initializers.cpp.

bool testRos

(

)

Definition at line 100 of file test_initializers.cpp.

bool testXMLInit

(

)

Definition at line 89 of file test_initializers.cpp.

Variable Documentation

int argc_

Definition at line 39 of file test_initializers.cpp.

char** argv_

Definition at line 40 of file test_initializers.cpp.

const std::string srdf_string = "<robot name=\"test_robot\"><group name=\"arm\"><chain base_link=\"base\" tip_link=\"endeff\" /></group><virtual_joint name=\"world_joint\" type=\"fixed\" parent_frame=\"world_frame\" child_link=\"base\" /><group_state name=\"zero\" group=\"arm\"><joint name=\"joint1\" value=\"0\" /><joint name=\"joint2\" value=\"0.3\" /><joint name=\"joint3\" value=\"0.55\" /></group_state><disable_collisions link1=\"base\" link2=\"link1\" reason=\"Adjacent\" /><disable_collisions link1=\"endeff\" link2=\"link3\" reason=\"Adjacent\" /><disable_collisions link1=\"link1\" link2=\"link2\" reason=\"Adjacent\" /><disable_collisions link1=\"link2\" link2=\"link3\" reason=\"Adjacent\" /></robot>"

static

Definition at line 37 of file test_initializers.cpp.

const std::string urdf_string = "<robot name=\"test_robot\"><link name=\"base\"><visual><geometry><cylinder length=\"0.3\" radius=\"0.2\"/></geometry><origin xyz=\"0 0 0.15\"/></visual><collision><geometry><cylinder length=\"0.3\" radius=\"0.2\"/></geometry><origin xyz=\"0 0 0.15\"/></collision></link><link name=\"link1\"><inertial><mass value=\"0.2\"/><origin xyz=\"0 0 0.1\"/><inertia ixx=\"0.00381666666667\" ixy=\"0\" ixz=\"0\" iyy=\"0.0036\" iyz=\"0\" izz=\"0.00381666666667\"/></inertial><visual><geometry><cylinder length=\"0.15\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.075\"/></visual><collision><geometry><cylinder length=\"0.15\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.075\"/></collision></link><link name=\"link2\"><inertial><mass value=\"0.2\"/><origin xyz=\"0 0 0.1\"/><inertia ixx=\"0.00381666666667\" ixy=\"0\" ixz=\"0\" iyy=\"0.0036\" iyz=\"0\" izz=\"0.00381666666667\"/></inertial><visual><geometry><cylinder length=\"0.35\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.175\"/></visual><collision><geometry><cylinder length=\"0.35\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.175\"/></collision></link><link name=\"link3\"><inertial><mass value=\"0.2\"/><origin xyz=\"0 0 0.1\"/><inertia ixx=\"0.00381666666667\" ixy=\"0\" ixz=\"0\" iyy=\"0.0036\" iyz=\"0\" izz=\"0.00381666666667\"/></inertial><visual><geometry><cylinder length=\"0.45\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.225\"/></visual><collision><geometry><cylinder length=\"0.45\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.225\"/></collision></link><link name=\"endeff\"><inertial><mass value=\"0.2\"/><origin xyz=\"0 0 0.1\"/><inertia ixx=\"0.00381666666667\" ixy=\"0\" ixz=\"0\" iyy=\"0.0036\" iyz=\"0\" izz=\"0.00381666666667\"/></inertial><visual><geometry><cylinder length=\"0.05\" radius=\"0.1\"/></geometry><origin xyz=\"0 0 -0.025\"/></visual><collision><geometry><cylinder length=\"0.05\" radius=\"0.1\"/></geometry><origin xyz=\"0 0 -0.025\"/></collision></link><joint name=\"joint1\" type=\"revolute\"><parent link=\"base\"/><child link=\"link1\"/><origin xyz=\"0 0 0.3\" rpy=\"0 0 0\" /><axis xyz=\"0 0 1\" /><limit effort=\"200\" velocity=\"1.0\" lower=\"-0.4\" upper=\"0.4\"/><safety_controller k_position=\"30\" k_velocity=\"30\" soft_lower_limit=\"-0.4\" soft_upper_limit=\"0.4\"/></joint><joint name=\"joint2\" type=\"revolute\"><parent link=\"link1\"/><child link=\"link2\"/><origin xyz=\"0 0 0.15\" rpy=\"0 0 0\" /><axis xyz=\"0 1 0\" /><limit effort=\"200\" velocity=\"1.0\" lower=\"-0.4\" upper=\"0.4\"/><safety_controller k_position=\"30\" k_velocity=\"30\" soft_lower_limit=\"-0.4\" soft_upper_limit=\"0.4\"/></joint><joint name=\"joint3\" type=\"revolute\"><parent link=\"link2\"/><child link=\"link3\"/><origin xyz=\"0 0 0.35\" rpy=\"0 0 0\" /><axis xyz=\"0 1 0\" /><limit effort=\"200\" velocity=\"1.0\" lower=\"-0.4\" upper=\"0.4\"/><safety_controller k_position=\"30\" k_velocity=\"30\" soft_lower_limit=\"-0.4\" soft_upper_limit=\"0.4\"/></joint><joint name=\"joint4\" type=\"fixed\"><parent link=\"link3\"/><child link=\"endeff\"/><origin xyz=\"0 0 0.45\" rpy=\"0 0 0\" /></joint></robot>"

static

Definition at line 36 of file test_initializers.cpp.