test_state_space.cpp
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34 
35 /* Author: Ioan Sucan */
36 
39 #include <moveit_resources/config.h>
40 
41 #include <urdf_parser/urdf_parser.h>
42 
43 #include <ompl/util/Exception.h>
45 #include <gtest/gtest.h>
46 #include <fstream>
47 #include <boost/filesystem/path.hpp>
48 
49 class LoadPlanningModelsPr2 : public testing::Test
50 {
51 protected:
52  virtual void SetUp()
53  {
54  boost::filesystem::path res_path(MOVEIT_TEST_RESOURCES_DIR);
55 
56  srdf_model_.reset(new srdf::Model());
57  std::string xml_string;
58  std::fstream xml_file((res_path / "pr2_description/urdf/robot.xml").string().c_str(), std::fstream::in);
59  if (xml_file.is_open())
60  {
61  while (xml_file.good())
62  {
63  std::string line;
64  std::getline(xml_file, line);
65  xml_string += (line + "\n");
66  }
67  xml_file.close();
68  urdf_model_ = urdf::parseURDF(xml_string);
69  }
70  srdf_model_->initFile(*urdf_model_, (res_path / "pr2_description/srdf/robot.xml").string());
71  robot_model_.reset(new moveit::core::RobotModel(urdf_model_, srdf_model_));
72  };
73 
74  virtual void TearDown()
75  {
76  }
77 
78 protected:
79  robot_model::RobotModelPtr robot_model_;
80  urdf::ModelInterfaceSharedPtr urdf_model_;
82  bool urdf_ok_;
83  bool srdf_ok_;
84 };
85 
87 {
88  ompl_interface::ModelBasedStateSpaceSpecification spec(robot_model_, "whole_body");
90  ss.setPlanningVolume(-1, 1, -1, 1, -1, 1);
91  ss.setup();
92  std::ofstream fout("ompl_interface_test_state_space_diagram1.dot");
93  ss.diagram(fout);
94  bool passed = false;
95  try
96  {
97  ss.sanityChecks();
98  passed = true;
99  }
100  catch (ompl::Exception& ex)
101  {
102  logError("Sanity checks did not pass: %s", ex.what());
103  }
104  EXPECT_TRUE(passed);
105 }
106 
108 {
109  ompl_interface::ModelBasedStateSpaceSpecification spec1(robot_model_, "right_arm");
111  ss1.setup();
112 
113  ompl_interface::ModelBasedStateSpaceSpecification spec2(robot_model_, "left_arm");
115  ss2.setup();
116 
117  ompl_interface::ModelBasedStateSpaceSpecification spec3(robot_model_, "whole_body");
119  ss3.setup();
120 
121  ompl_interface::ModelBasedStateSpaceSpecification spec4(robot_model_, "arms");
123  ss4.setup();
124 
125  std::ofstream fout("ompl_interface_test_state_space_diagram2.dot");
126  ompl::base::StateSpace::Diagram(fout);
127 }
128 
130 {
131  ompl_interface::ModelBasedStateSpaceSpecification spec(robot_model_, "right_arm");
133  ss.setPlanningVolume(-1, 1, -1, 1, -1, 1);
134  ss.setup();
135  std::ofstream fout("ompl_interface_test_state_space_diagram1.dot");
136  ss.diagram(fout);
137  bool passed = false;
138  try
139  {
140  ss.sanityChecks();
141  passed = true;
142  }
143  catch (ompl::Exception& ex)
144  {
145  logError("Sanity checks did not pass: %s", ex.what());
146  }
147  EXPECT_TRUE(passed);
148 
149  robot_state::RobotState kstate(robot_model_);
150  kstate.setToRandomPositions();
151  EXPECT_TRUE(kstate.distance(kstate) < 1e-12);
152  ompl::base::State* state = ss.allocState();
153  for (int i = 0; i < 10; ++i)
154  {
155  robot_state::RobotState kstate2(kstate);
156  EXPECT_TRUE(kstate.distance(kstate2) < 1e-12);
157  ss.copyToOMPLState(state, kstate);
158  kstate.setToRandomPositions(kstate.getRobotModel()->getJointModelGroup(ss.getJointModelGroupName()));
159  std::cout << (kstate.getGlobalLinkTransform("r_wrist_roll_link").translation() -
160  kstate2.getGlobalLinkTransform("r_wrist_roll_link").translation())
161  << std::endl;
162  EXPECT_TRUE(kstate.distance(kstate2) > 1e-12);
163  ss.copyToRobotState(kstate, state);
164  std::cout << (kstate.getGlobalLinkTransform("r_wrist_roll_link").translation() -
165  kstate2.getGlobalLinkTransform("r_wrist_roll_link").translation())
166  << std::endl;
167  EXPECT_TRUE(kstate.distance(kstate2) < 1e-12);
168  }
169 
170  ss.freeState(state);
171 }
172 
173 int main(int argc, char** argv)
174 {
175  testing::InitGoogleTest(&argc, argv);
176  return RUN_ALL_TESTS();
177 }
urdf::ModelInterfaceSharedPtr urdf_model_
virtual void copyToRobotState(robot_state::RobotState &rstate, const ompl::base::State *state) const
Copy the data from an OMPL state to a set of joint states.
virtual void SetUp()
virtual void copyToOMPLState(ompl::base::State *state, const robot_state::RobotState &rstate) const
Copy the data from a set of joint states to an OMPL state.
virtual void setPlanningVolume(double minX, double maxX, double minY, double maxY, double minZ, double maxZ)
Set the planning volume for the possible SE2 and/or SE3 components of the state space.
virtual void TearDown()
virtual ompl::base::State * allocState() const
def xml_string(rootXml, addHeader=True)
virtual void freeState(ompl::base::State *state) const
srdf::ModelSharedPtr srdf_model_
#define EXPECT_TRUE(args)
TEST_F(LoadPlanningModelsPr2, StateSpace)
int main(int argc, char **argv)
const std::string & getJointModelGroupName() const


ompl
Author(s): Ioan Sucan
autogenerated on Sat Apr 21 2018 02:55:34