laser_joint_processor: laser_joint_processor: joint_imager

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00034 
00035 #include <gtest/gtest.h>
00036 #include <laser_joint_processor/joint_imager.h>
00037 
00038 using namespace std;
00039 using namespace laser_joint_processor;
00040 using joint_states_settler::DeflatedJointStates;
00041 
00042 static const float eps = 1e-6;
00043 
00044 typedef settlerlib::SortedDeque<joint_states_settler::DeflatedJointStates> DeflatedDeque;
00045 
00046 void populateCache(DeflatedDeque& cache, const ros::Time& start, const unsigned int N)
00047 {
00048   for (unsigned int i=0; i<N; i++)
00049   {
00050     joint_states_settler::DeflatedJointStates deflated;
00051     deflated.header.stamp = start + ros::Duration(i,0);
00052     deflated.channels_.resize(2);
00053     deflated.channels_[0] =  10*i;
00054     deflated.channels_[1] = 100*i;
00055 
00056     cache.add(deflated);
00057   }
00058 }
00059 
00060 
00061 class JointImager_EasyTests : public ::testing::Test
00062 {
00063 protected:
00064   virtual void SetUp()
00065   {
00066     cache_.setMaxSize(1000);
00067     populateCache(cache_, ros::Time(0,0), 100);
00068 
00069     snapshot_.time_increment = 1;
00070     snapshot_.readings_per_scan = 3;
00071     snapshot_.num_scans = 4;
00072     snapshot_.scan_start.resize(4);
00073     snapshot_.scan_start[0] = ros::Time(.5);
00074     snapshot_.scan_start[1] = ros::Time(10);
00075     snapshot_.scan_start[2] = ros::Time(35);
00076     snapshot_.scan_start[3] = ros::Time(50.5);
00077 
00078     bool success;
00079     success =imager_.update(snapshot_, cache_, ros::Duration(2,0));
00080     ASSERT_TRUE(success);
00081 
00082     image0_ = imager_.getJointImage(0);
00083     image1_ = imager_.getJointImage(1);
00084   }
00085 
00086   DeflatedDeque cache_;
00087   calibration_msgs::DenseLaserSnapshot snapshot_;
00088   JointImager imager_;
00089 
00090   IplImage* image0_;
00091   IplImage* image1_;
00092 };
00093 
00094 float imageAt(IplImage* image, int row, int col, int channel)
00095 {
00096   return *(((float*)(image->imageData + row*image->widthStep)) + image->nChannels*col + channel);
00097 }
00098 
00099 TEST_F(JointImager_EasyTests, positions)
00100 {
00101   EXPECT_NEAR(imageAt(image0_, 0, 0, 0),   5, eps);
00102   EXPECT_NEAR(imageAt(image0_, 1, 0, 0), 100, eps);
00103   EXPECT_NEAR(imageAt(image0_, 2, 0, 0), 350, eps);
00104   EXPECT_NEAR(imageAt(image0_, 0, 2, 0),  25, eps);
00105   EXPECT_NEAR(imageAt(image0_, 3, 2, 0), 525, eps);
00106 
00107   EXPECT_NEAR(imageAt(image1_, 0, 0, 0),   50, eps);
00108   EXPECT_NEAR(imageAt(image1_, 3, 2, 0), 5250, eps);
00109 
00110 }
00111 
00112 TEST_F(JointImager_EasyTests, velocities)
00113 {
00114   EXPECT_NEAR(imageAt(image0_, 0, 0, 1),  10, eps);
00115   EXPECT_NEAR(imageAt(image0_, 0, 1, 1),  10, eps);
00116   EXPECT_NEAR(imageAt(image0_, 0, 2, 1),  10, eps);
00117   EXPECT_NEAR(imageAt(image0_, 3, 0, 1),  10, eps);
00118   EXPECT_NEAR(imageAt(image0_, 3, 1, 1),  10, eps);
00119   EXPECT_NEAR(imageAt(image0_, 3, 2, 1),  10, eps);
00120 
00121   EXPECT_NEAR(imageAt(image1_, 0, 0, 1), 100, eps);
00122   EXPECT_NEAR(imageAt(image1_, 0, 1, 1), 100, eps);
00123   EXPECT_NEAR(imageAt(image1_, 0, 2, 1), 100, eps);
00124   EXPECT_NEAR(imageAt(image1_, 3, 0, 1), 100, eps);
00125   EXPECT_NEAR(imageAt(image1_, 3, 1, 1), 100, eps);
00126   EXPECT_NEAR(imageAt(image1_, 3, 2, 1), 100, eps);
00127 }
00128 
00129 int main(int argc, char **argv){
00130   testing::InitGoogleTest(&argc, argv);
00131   return RUN_ALL_TESTS();
00132 }
joint_imager_unittest.cpp
