Program Listing for File checks.h
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#pragma once
#include <gtest/gtest.h>
#include <moveit/robot_state/robot_state.h>
namespace pilz_industrial_motion_planner_testutils
{
::testing::AssertionResult isAtExpectedPosition(const moveit::core::RobotState& expected,
const moveit::core::RobotState& actual, const double epsilon,
const std::string& group_name = "")
{
if (group_name.empty() && expected.distance(actual) <= epsilon)
{
return ::testing::AssertionSuccess();
}
else if (!group_name.empty() && expected.distance(actual, actual.getJointModelGroup(group_name)) <= epsilon)
{
return ::testing::AssertionSuccess();
}
std::stringstream msg;
msg << " expected: " << expected << " actual: " << actual;
return ::testing::AssertionFailure() << msg.str();
}
} // namespace pilz_industrial_motion_planner_testutils