rviz_robot_builder_test.cc

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#include <gtest/gtest.h>

#include <xpp_vis/rviz_robot_builder.h>

using namespace xpp;

TEST(RvizRobotBuilder, BuildRobotState)
{
  RvizRobotBuilder builder;

  // defines the robot state
  xpp_msgs::RobotParameters params_msg;
  params_msg.base_mass = 30.0; // [kg]
  params_msg.ee_max_dev.x = params_msg.ee_max_dev.x = params_msg.ee_max_dev.z = 0.1;
  builder.SetRobotParameters(params_msg);

  // create a biped robot standing 0.6m tall
  xpp_msgs::RobotStateCartesian state_msg;
  state_msg.ee_motion.resize(2);
  state_msg.ee_forces.resize(2);
  state_msg.base.pose.position.z = 0.6; // [m]
  state_msg.ee_contact = { true, true };
  state_msg.ee_motion.at(0).pos.y =  0.2; // leg leg
  state_msg.ee_motion.at(1).pos.y = -0.2; // right leg
  state_msg.ee_forces.at(0).z = params_msg.base_mass*9.81/2.; // leg leg
  state_msg.ee_forces.at(1).z = params_msg.base_mass*9.81/2.; // right leg

  auto rviz_markers = builder.BuildRobotState(state_msg);

  // mostly checking for segfaults here
  EXPECT_FALSE(rviz_markers.markers.empty());
}