test_linear_spline_velocity_scaler.cpp

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#include <gtest/gtest.h>
#include <filters/filter_chain.h>
#include <arm_navigation_msgs/FilterJointTrajectory.h>

using namespace filters;

TEST(TestLinearSplineVelocityScaler, TestLinearSplineVelocityScaler1)
{
  // make the filter chain:
  FilterChain<arm_navigation_msgs::FilterJointTrajectory> chain("arm_navigation_msgs::FilterJointTrajectory");
  ASSERT_TRUE(chain.configure("TestLinearSplineVelocityScaler"));

  // create the input:
  int length = 4;
  int joints = 2;

  arm_navigation_msgs::FilterJointTrajectory wpt;
  arm_navigation_msgs::FilterJointTrajectory wpt_out;
  wpt.request.trajectory.points.resize(length);
  wpt.request.trajectory.joint_names.resize(joints);
  wpt.request.trajectory.joint_names[0] = std::string("test0");
  wpt.request.trajectory.joint_names[1] = std::string("test1");

  wpt.request.limits.resize(joints);
  wpt.request.limits[0].max_velocity = 0.5;
  wpt.request.limits[0].has_velocity_limits = 1;

  wpt.request.limits[1].max_velocity = 0.25;
  wpt.request.limits[1].has_velocity_limits = 1;

  for (int i=0; i<length; i++)
  {
    wpt.request.trajectory.points[i].positions.resize(joints);
    wpt.request.trajectory.points[i].velocities.resize(joints);
    wpt.request.trajectory.points[i].accelerations.resize(joints);
    for(int j=0; j<joints; j++)
    {
      wpt.request.trajectory.points[i].positions[j] = i+j;
      wpt.request.trajectory.points[i].velocities[j] = 0.0;
      wpt.request.trajectory.points[i].accelerations[j] = 0.0;
    }
    wpt.request.trajectory.points[i].time_from_start = ros::Duration(0.0);
  }
  chain.update(wpt, wpt_out);
  // verify that velocities are 0:

  EXPECT_NEAR(wpt_out.request.trajectory.points[0].time_from_start.toSec(), 0.0, 1e-8);
  EXPECT_NEAR(wpt_out.request.trajectory.points[1].time_from_start.toSec(), 4.0, 1e-8);
  EXPECT_NEAR(wpt_out.request.trajectory.points[2].time_from_start.toSec(), 8.0, 1e-8);
  EXPECT_NEAR(wpt_out.request.trajectory.points[3].time_from_start.toSec(), 12.0, 1e-8);

}

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