pr2_plugs_common: pr2_plugs_common: joint_space_move

00001 /*                                                                                
00002  * Copyright (c) 2008, Willow Garage, Inc.                                        
00003  * All rights reserved.                                                           
00004  *                                                                                
00005  * Redistribution and use in source and binary forms, with or without             
00006  * modification, are permitted provided that the following conditions are met:    
00007  *                                                                                
00008  *     * Redistributions of source code must retain the above copyright           
00009  *       notice, this list of conditions and the following disclaimer.            
00010  *     * Redistributions in binary form must reproduce the above copyright        
00011  *       notice, this list of conditions and the following disclaimer in the      
00012  *       documentation and/or other materials provided with the distribution.     
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its         
00014  *       contributors may be used to endorse or promote products derived from     
00015  *       this software without specific prior written permission.                 
00016  *                                                                                
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"    
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE      
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE     
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE       
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR            
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF           
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS       
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN        
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)        
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE     
00027  * POSSIBILITY OF SUCH DAMAGE.                                                    
00028  *                                                                                 
00029  * Author: Melonee Wise                                                            
00030  */
00031 
00032 #include <ros/ros.h>
00033 #include <gtest/gtest.h>
00034 #include <pr2_plugs_common/joint_space_move.h>
00035 #include <pr2_controllers_msgs/JointTrajectoryAction.h>
00036 #include <actionlib/server/simple_action_server.h>
00037 #include <boost/thread.hpp>
00038 
00039 typedef actionlib::SimpleActionServer<pr2_controllers_msgs::JointTrajectoryAction> Server;
00040 
00041 void execute(const pr2_controllers_msgs::JointTrajectoryGoalConstPtr& goal, Server* as)
00042 {
00043   double joint_pos[] = {1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0};
00044   std::vector<double> pos (joint_pos, joint_pos + sizeof(joint_pos) / sizeof(double) );
00045   if(goal->trajectory.points[0].positions == pos)
00046     as->setSucceeded();
00047   else
00048     as->setAborted();
00049 }
00050 
00051 void spinThread()
00052 {
00053   ros::spin();
00054 }
00055 
00056 
00057 TEST(JointSpaceMove, test_failure)
00058 {
00059 
00060   EXPECT_TRUE(pr2_plugs_common::gotoJointPosition(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, true));
00061 
00062 }
00063 
00064 int main(int argc, char **argv){
00065   testing::InitGoogleTest(&argc, argv);
00066   ros::init(argc, argv, "trajectory_unwrap_test");
00067   ros::NodeHandle n;
00068   Server server(n, "r_arm_controller/joint_trajectory_action", boost::bind(&execute, _1, &server));
00069   boost::thread spin_thread(&spinThread);
00070   int log = RUN_ALL_TESTS();
00071   ros::shutdown();
00072   spin_thread.join();
00073   return log;
00074   
00075 }
joint_space_move_test.cpp
