test_chain.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <ros/package.h>
#include <gtest/gtest.h>
#include <vector>
#include <boost/scoped_ptr.hpp>
#include "pr2_mechanism_model/robot.h"
#include "pr2_mechanism_model/chain.h"
#include <kdl/chainfksolverpos_recursive.hpp>

using namespace pr2_mechanism_model;
using namespace std;


// Just three links
class ShortChainTest : public testing::Test
{
protected:
  ShortChainTest() {}
  virtual ~ShortChainTest() {}

  virtual void SetUp() {}

  virtual void TearDown() {}

  pr2_hardware_interface::HardwareInterface hw;
};

TEST_F(ShortChainTest, FKShouldMatchOnShortChainWhenStraight)
{
  TiXmlDocument urdf_xml;
  urdf_xml.LoadFile(ros::package::getPath("pr2_mechanism_model") + "/pr2.urdf");
  TiXmlElement *root = urdf_xml.FirstChildElement("robot");
  ASSERT_TRUE(root != NULL);
  pr2_hardware_interface::HardwareInterface hw;
  Robot model(&hw);
  ASSERT_TRUE(model.initXml(root));
  RobotState state(&model);

  // Test no longer valid because joint state is empty when actuators are not present
  /*
  // extract chain
  Chain chain;
  EXPECT_TRUE(chain.init(&state, "fl_caster_l_wheel_link", "r_gripper_palm_link"));
  KDL::Chain kdl;
  chain.toKDL(kdl);
  unsigned int nr_segments = 13;
  unsigned int nr_joints = 10;
  ASSERT_EQ(nr_segments, kdl.getNrOfSegments());
  ASSERT_EQ(nr_joints, kdl.getNrOfJoints());

  KDL::JntArray jnts(state.joint_states_.size());
  chain.getPositions(jnts);
  */
}

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