test_chain.cpp
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29 
30 #include <gtest/gtest.h>
31 #include <vector>
32 #include <boost/scoped_ptr.hpp>
35 #include <kdl/chainfksolverpos_recursive.hpp>
36 
37 using namespace pr2_mechanism_model;
38 using namespace std;
39 
40 
41 // Just three links
42 class ShortChainTest : public testing::Test
43 {
44 protected:
46  virtual ~ShortChainTest() {}
47 
48  virtual void SetUp() {}
49 
50  virtual void TearDown() {}
51 
53 };
54 
55 TEST_F(ShortChainTest, FKShouldMatchOnShortChainWhenStraight)
56 {
57  TiXmlDocument urdf_xml;
58  urdf_xml.LoadFile("pr2.urdf");
59  TiXmlElement *root = urdf_xml.FirstChildElement("robot");
60  ASSERT_TRUE(root != NULL);
62  Robot model(&hw);
63  ASSERT_TRUE(model.initXml(root));
64  RobotState state(&model);
65 
66  // Test no longer valid because joint state is empty when actuators are not present
67  /*
68  // extract chain
69  Chain chain;
70  EXPECT_TRUE(chain.init(&state, "fl_caster_l_wheel_link", "r_gripper_palm_link"));
71  KDL::Chain kdl;
72  chain.toKDL(kdl);
73  unsigned int nr_segments = 13;
74  unsigned int nr_joints = 10;
75  ASSERT_EQ(nr_segments, kdl.getNrOfSegments());
76  ASSERT_EQ(nr_joints, kdl.getNrOfJoints());
77 
78  KDL::JntArray jnts(state.joint_states_.size());
79  chain.getPositions(jnts);
80  */
81 }
82 
83 int main(int argc, char **argv){
84  testing::InitGoogleTest(&argc, argv);
85  return RUN_ALL_TESTS();
86 }
virtual void TearDown()
Definition: test_chain.cpp:50
virtual ~ShortChainTest()
Definition: test_chain.cpp:46
int main(int argc, char **argv)
Definition: test_chain.cpp:83
TEST_F(ShortChainTest, FKShouldMatchOnShortChainWhenStraight)
Definition: test_chain.cpp:55
virtual void SetUp()
Definition: test_chain.cpp:48
pr2_hardware_interface::HardwareInterface hw
Definition: test_chain.cpp:52
bool initXml(TiXmlElement *root)
Initialize the robot model form xml.
Definition: robot.cpp:51
This class provides the controllers with an interface to the robot state.
Definition: robot.h:126
This class provides the controllers with an interface to the robot model.
Definition: robot.h:78


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Mon Jun 10 2019 14:19:04