Go to the documentation of this file.00001 #include "lsp_test_fiducial.hh"
00002
00003 using namespace lspTest;
00004
00005 void Fiducial::setUp() {
00006 connect();
00007 fiducialProxy = playerc_fiducial_create( client, 0 );
00008 CPPUNIT_ASSERT( playerc_fiducial_subscribe( fiducialProxy, PLAYER_OPEN_MODE ) == 0 );
00009 }
00010
00011
00012 void Fiducial::tearDown() {
00013 CPPUNIT_ASSERT( playerc_fiducial_unsubscribe( fiducialProxy ) == 0 );
00014 playerc_fiducial_destroy( fiducialProxy );
00015 disconnect();
00016 }
00017
00018 void Fiducial::testGeom() {
00019 CPPUNIT_ASSERT( playerc_fiducial_get_geom( fiducialProxy ) == 0 );
00020
00021
00022 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE( "pose (x)", -0.15, fiducialProxy->fiducial_geom.pose.px, Delta );
00023 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE( "pose (y)", 0, fiducialProxy->fiducial_geom.pose.py, Delta );
00024 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE( "pose (z)", 0, fiducialProxy->fiducial_geom.pose.pz, Delta );
00025 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE( "pose (pitch)", 0, fiducialProxy->fiducial_geom.pose.ppitch, Delta );
00026 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE( "pose (roll)", 0, fiducialProxy->fiducial_geom.pose.proll, Delta );
00027 CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE( "pose (yaw)", 0, fiducialProxy->fiducial_geom.pose.pyaw, Delta );
00028 }
00029
00030 void Fiducial::testData() {
00031 playerc_client_read( client );
00032
00033
00034 fiducialProxy->info.fresh = 0;
00035 playerc_client_read( client );
00036 CPPUNIT_ASSERT_MESSAGE( "fiducial updating", fiducialProxy->info.fresh == 1 );
00037
00038 CPPUNIT_ASSERT( fiducialProxy->info.datatime > 0 );
00039
00040
00041 CPPUNIT_ASSERT_EQUAL_MESSAGE( "fiducials_count", 1, fiducialProxy->fiducials_count );
00042 CPPUNIT_ASSERT( fiducialProxy->fiducials[0].id == 2 );
00043
00044
00045
00046
00047
00048
00049
00050
00051
00052
00053
00054 }