test_smoothers_as_filters.cpp

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

using namespace filters;

TEST(TestSmoothersAsFilters, TestSmoothersAsFilters1)
{
  // make the filter chain:
  FilterChain<arm_navigation_msgs::FilterJointTrajectory> chain("arm_navigation_msgs::FilterJointTrajectory");
  ASSERT_TRUE(chain.configure("TestSmoothersAsFilters"));

  // create the input:
  int length = 5;
  arm_navigation_msgs::FilterJointTrajectory wpt;
  arm_navigation_msgs::FilterJointTrajectory wpt_out;
  wpt.request.trajectory.points.resize(length);
  wpt.request.trajectory.joint_names.resize(1);
  wpt.request.trajectory.joint_names[0] = std::string("test");
  for (int i=0; i<length; i++)
  {
    wpt.request.trajectory.points[i].positions.resize(1);
    wpt.request.trajectory.points[i].accelerations.resize(1);
    wpt.request.trajectory.points[i].velocities.resize(1);
    wpt.request.trajectory.points[i].positions[0] = 0.0;
    wpt.request.trajectory.points[i].velocities[0] = 0.0;
    wpt.request.trajectory.points[i].accelerations[0] = 0.0;
    wpt.request.trajectory.points[i].time_from_start = ros::Duration(i);
  }

  chain.update(wpt, wpt_out);

  // verify that velocities are 0:
  for (int i=0; i<length; i++)
  {
    EXPECT_NEAR(wpt_out.request.trajectory.points[i].velocities[0], 0.0, 1e-8);
  }

}

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