test_planning_scene.cpp

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/* Author: Ioan Sucan */

#include <gtest/gtest.h>
#include <moveit/planning_scene/planning_scene.h>
#include <urdf_parser/urdf_parser.h>
#include <fstream>
#include <string>
#include <boost/filesystem/path.hpp>
#include <moveit_resources/config.h>

// This function needs to return void so the gtest FAIL() macro inside
// it works right.
void loadModelFile(std::string filename, std::string& file_content)
{
  boost::filesystem::path res_path(MOVEIT_TEST_RESOURCES_DIR);
  std::string xml_string;
  std::fstream xml_file((res_path / filename).string().c_str(), std::fstream::in);
  EXPECT_TRUE(xml_file.is_open());
  while (xml_file.good())
  {
    std::string line;
    std::getline(xml_file, line);
    xml_string += (line + "\n");
  }
  xml_file.close();
  file_content = xml_string;
}

void loadRobotModel(urdf::ModelInterfaceSharedPtr& robot_model_out)
{
  std::string xml_string;
  loadModelFile("pr2_description/urdf/robot.xml", xml_string);
  robot_model_out = urdf::parseURDF(xml_string);
}
void loadRobotModels(urdf::ModelInterfaceSharedPtr& robot_model_out, srdf::ModelSharedPtr& srdf_model_out)
{
  loadRobotModel(robot_model_out);
  std::string xml_string;
  loadModelFile("pr2_description/srdf/robot.xml", xml_string);
  srdf_model_out->initString(*robot_model_out, xml_string);
}

TEST(PlanningScene, LoadRestore)
{
  urdf::ModelInterfaceSharedPtr urdf_model;
  loadRobotModel(urdf_model);
  srdf::ModelSharedPtr srdf_model(new srdf::Model());
  planning_scene::PlanningScene ps(urdf_model, srdf_model);
  moveit_msgs::PlanningScene ps_msg;
  ps.getPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps.getName(), ps_msg.name);
  EXPECT_EQ(ps.getRobotModel()->getName(), ps_msg.robot_model_name);
  ps.setPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps.getName(), ps_msg.name);
  EXPECT_EQ(ps.getRobotModel()->getName(), ps_msg.robot_model_name);
}

TEST(PlanningScene, LoadRestoreDiff)
{
  urdf::ModelInterfaceSharedPtr urdf_model;
  loadRobotModel(urdf_model);
  srdf::ModelSharedPtr srdf_model(new srdf::Model());

  planning_scene::PlanningScenePtr ps(new planning_scene::PlanningScene(urdf_model, srdf_model));

  collision_detection::World& world = *ps->getWorldNonConst();
  Eigen::Affine3d id = Eigen::Affine3d::Identity();
  world.addToObject("sphere", shapes::ShapeConstPtr(new shapes::Sphere(0.4)), id);

  moveit_msgs::PlanningScene ps_msg;
  ps_msg.robot_state.is_diff = true;
  EXPECT_TRUE(planning_scene::PlanningScene::isEmpty(ps_msg));
  ps->getPlanningSceneMsg(ps_msg);
  ps->setPlanningSceneMsg(ps_msg);
  EXPECT_FALSE(planning_scene::PlanningScene::isEmpty(ps_msg));
  EXPECT_TRUE(world.hasObject("sphere"));

  planning_scene::PlanningScenePtr next = ps->diff();
  EXPECT_TRUE(next->getWorld()->hasObject("sphere"));
  next->getWorldNonConst()->addToObject("sphere2", shapes::ShapeConstPtr(new shapes::Sphere(0.5)), id);
  EXPECT_EQ(next->getWorld()->size(), 2);
  EXPECT_EQ(ps->getWorld()->size(), 1);
  next->getPlanningSceneDiffMsg(ps_msg);
  EXPECT_EQ(ps_msg.world.collision_objects.size(), 1);
  next->decoupleParent();
  moveit_msgs::PlanningScene ps_msg2;
  next->getPlanningSceneDiffMsg(ps_msg2);
  EXPECT_EQ(ps_msg2.world.collision_objects.size(), 0);
  next->getPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps_msg.world.collision_objects.size(), 2);
  ps->setPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps->getWorld()->size(), 2);
}

TEST(PlanningScene, MakeAttachedDiff)
{
  srdf::ModelSharedPtr srdf_model(new srdf::Model());
  urdf::ModelInterfaceSharedPtr urdf_model;
  loadRobotModel(urdf_model);

  planning_scene::PlanningScenePtr ps(new planning_scene::PlanningScene(urdf_model, srdf_model));

  collision_detection::World& world = *ps->getWorldNonConst();
  Eigen::Affine3d id = Eigen::Affine3d::Identity();
  world.addToObject("sphere", shapes::ShapeConstPtr(new shapes::Sphere(0.4)), id);

  planning_scene::PlanningScenePtr attached_object_diff_scene = ps->diff();

  moveit_msgs::AttachedCollisionObject att_obj;
  att_obj.link_name = "r_wrist_roll_link";
  att_obj.object.operation = moveit_msgs::CollisionObject::ADD;
  att_obj.object.id = "sphere";

  collision_detection::CollisionRequest req;
  collision_detection::CollisionResult res;

  attached_object_diff_scene->processAttachedCollisionObjectMsg(att_obj);
  attached_object_diff_scene->checkCollision(req, res);
  ps->checkCollision(req, res);
}

TEST(PlanningScene, isStateValid)
{
  srdf::ModelSharedPtr srdf_model(new srdf::Model());
  urdf::ModelInterfaceSharedPtr urdf_model;
  loadRobotModels(urdf_model, srdf_model);

  planning_scene::PlanningScenePtr ps(new planning_scene::PlanningScene(urdf_model, srdf_model));
  robot_state::RobotState current_state = ps->getCurrentState();
  if (ps->isStateColliding(current_state, "left_arm"))
  {
    EXPECT_FALSE(ps->isStateValid(current_state, "left_arm"));
  }
}

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