00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include <gtest/gtest.h> 00031 #include <vector> 00032 #include <boost/scoped_ptr.hpp> 00033 #include "pr2_mechanism_model/robot.h" 00034 #include "pr2_mechanism_model/chain.h" 00035 #include <kdl/chainfksolverpos_recursive.hpp> 00036 00037 using namespace pr2_mechanism_model; 00038 using namespace std; 00039 00040 00041 // Just three links 00042 class ShortChainTest : public testing::Test 00043 { 00044 protected: 00045 ShortChainTest() {} 00046 virtual ~ShortChainTest() {} 00047 00048 virtual void SetUp() {} 00049 00050 virtual void TearDown() {} 00051 00052 pr2_hardware_interface::HardwareInterface hw; 00053 }; 00054 00055 TEST_F(ShortChainTest, FKShouldMatchOnShortChainWhenStraight) 00056 { 00057 TiXmlDocument urdf_xml; 00058 urdf_xml.LoadFile("pr2.urdf"); 00059 TiXmlElement *root = urdf_xml.FirstChildElement("robot"); 00060 ASSERT_TRUE(root != NULL); 00061 pr2_hardware_interface::HardwareInterface hw; 00062 Robot model(&hw); 00063 ASSERT_TRUE(model.initXml(root)); 00064 RobotState state(&model); 00065 00066 // Test no longer valid because joint state is empty when actuators are not present 00067 /* 00068 // extract chain 00069 Chain chain; 00070 EXPECT_TRUE(chain.init(&state, "fl_caster_l_wheel_link", "r_gripper_palm_link")); 00071 KDL::Chain kdl; 00072 chain.toKDL(kdl); 00073 unsigned int nr_segments = 13; 00074 unsigned int nr_joints = 10; 00075 ASSERT_EQ(nr_segments, kdl.getNrOfSegments()); 00076 ASSERT_EQ(nr_joints, kdl.getNrOfJoints()); 00077 00078 KDL::JntArray jnts(state.joint_states_.size()); 00079 chain.getPositions(jnts); 00080 */ 00081 } 00082 00083 int main(int argc, char **argv){ 00084 testing::InitGoogleTest(&argc, argv); 00085 return RUN_ALL_TESTS(); 00086 }