test_door_functions.cpp

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 * $Id: test_executive_functions.cpp 14649 2009-04-30 01:13:48Z meeussen $
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/* Author: Wim Meeussen */

#include <door_msgs/Door.h>
#include <ros/ros.h>
#include <gtest/gtest.h>
#include <kdl/frames.hpp>
#include "pr2_doors_common/door_functions.h"


using namespace ros;
using namespace std;
using namespace KDL;
using namespace pr2_doors_common;




int g_argc;
char** g_argv;

class TestEKF : public testing::Test
{
public:
  door_msgs::Door my_door_1, my_door_2, my_door_3, my_door_4, my_door_5, my_door_6;

protected:
  TestEKF()
  {
    my_door_1.frame_p1.x = 1.0;
    my_door_1.frame_p1.y = -0.5;
    my_door_1.frame_p2.x = 1.0;
    my_door_1.frame_p2.y = 0.5;
    my_door_1.door_p1.x = 1.0;
    my_door_1.door_p1.y = -0.5;
    my_door_1.door_p2.x = 1.0;
    my_door_1.door_p2.y = 0.5;
    my_door_1.travel_dir.x = 1.0;
    my_door_1.travel_dir.y = 0.0;
    my_door_1.travel_dir.z = 0.0;
    my_door_1.rot_dir = door_msgs::Door::ROT_DIR_COUNTERCLOCKWISE;
    my_door_1.hinge = door_msgs::Door::HINGE_P2;
    my_door_1.header.frame_id = "base_footprint";
    
    my_door_2.frame_p2.x = 1.0;
    my_door_2.frame_p2.y = -0.5;
    my_door_2.frame_p1.x = 1.0;
    my_door_2.frame_p1.y = 0.5;
    my_door_2.door_p2.x = 1.0;
    my_door_2.door_p2.y = -0.5;
    my_door_2.door_p1.x = 1.0;
    my_door_2.door_p1.y = 0.5;
    my_door_2.travel_dir.x = 1.0;
    my_door_2.travel_dir.y = 0.0;
    my_door_2.travel_dir.z = 0.0;
    my_door_2.rot_dir = door_msgs::Door::ROT_DIR_COUNTERCLOCKWISE;
    my_door_2.hinge = door_msgs::Door::HINGE_P1;
    my_door_2.header.frame_id = "base_footprint";

    my_door_3.frame_p1.x = 1.0;
    my_door_3.frame_p1.y = -0.5;
    my_door_3.frame_p2.x = 1.0;
    my_door_3.frame_p2.y = 0.5;
    my_door_3.door_p1.x = 1.75;
    my_door_3.door_p1.y = -0.25;
    my_door_3.door_p2.x = 1.0;
    my_door_3.door_p2.y = 0.5;
    my_door_3.travel_dir.x = 1.0;
    my_door_3.travel_dir.y = 0.0;
    my_door_3.travel_dir.z = 0.0;
    my_door_3.rot_dir = door_msgs::Door::ROT_DIR_COUNTERCLOCKWISE;
    my_door_3.hinge = door_msgs::Door::HINGE_P2;
    my_door_3.header.frame_id = "base_footprint";

    my_door_4.frame_p2.x = 1.0;
    my_door_4.frame_p2.y = -0.5;
    my_door_4.frame_p1.x = 1.0;
    my_door_4.frame_p1.y = 0.5;
    my_door_4.door_p2.x = 1.75;
    my_door_4.door_p2.y = -0.25;
    my_door_4.door_p1.x = 1.0;
    my_door_4.door_p1.y = 0.5;
    my_door_4.travel_dir.x = 1.0;
    my_door_4.travel_dir.y = 0.0;
    my_door_4.travel_dir.z = 0.0;
    my_door_4.rot_dir = door_msgs::Door::ROT_DIR_COUNTERCLOCKWISE;
    my_door_4.hinge = door_msgs::Door::HINGE_P2;
    my_door_4.header.frame_id = "base_footprint";

    my_door_5.frame_p1.x = 1.0;
    my_door_5.frame_p1.y = -0.5;
    my_door_5.frame_p2.x = 1.0;
    my_door_5.frame_p2.y = 0.5;
    my_door_5.door_p1.x = 0.25;
    my_door_5.door_p1.y = -0.25;
    my_door_5.door_p2.x = 1.0;
    my_door_5.door_p2.y = 0.5;
    my_door_5.travel_dir.x = 1.0;
    my_door_5.travel_dir.y = 0.0;
    my_door_5.travel_dir.z = 0.0;
    my_door_5.rot_dir = door_msgs::Door::ROT_DIR_CLOCKWISE;
    my_door_5.hinge = door_msgs::Door::HINGE_P2;
    my_door_5.header.frame_id = "base_footprint";

    my_door_6.frame_p2.x = 1.0;
    my_door_6.frame_p2.y = -0.5;
    my_door_6.frame_p1.x = 1.0;
    my_door_6.frame_p1.y = 0.5;
    my_door_6.door_p2.x = 0.25;
    my_door_6.door_p2.y = -0.25;
    my_door_6.door_p1.x = 1.0;
    my_door_6.door_p1.y = 0.5;
    my_door_6.travel_dir.x = 1.0;
    my_door_6.travel_dir.y = 0.0;
    my_door_6.travel_dir.z = 0.0;
    my_door_6.rot_dir = door_msgs::Door::ROT_DIR_CLOCKWISE;
    my_door_6.hinge = door_msgs::Door::HINGE_P2;
    my_door_6.header.frame_id = "base_footprint";
  }
  

  ~TestEKF()
  {}
};



bool approx(double v1, double v2, double eps=0.01)
{
  return fabs(v1-v2) < eps;
}

bool approx(Vector v1, Vector v2, double eps=0.01)
{
  return approx(v1(0), v2(0), eps) && approx(v1(1), v2(1), eps) &&approx(v1(2), v2(2), eps);
}


TEST_F(TestEKF, test)
{
  cout << "door 1 " << my_door_1 << endl;
  ASSERT_TRUE(approx(getDoorAngle(my_door_1), 0));
  ASSERT_TRUE(approx(getFrameNormal(my_door_1), Vector(1,0,0)));
  ASSERT_TRUE(approx(getDoorNormal(my_door_1), Vector(1,0,0)));

  cout << "door 2 " << my_door_2 << endl;
  ASSERT_TRUE(approx(getDoorAngle(my_door_2), 0));
  ASSERT_TRUE(approx(getFrameNormal(my_door_2), Vector(1,0,0)));
  ASSERT_TRUE(approx(getDoorNormal(my_door_2), Vector(1,0,0)));

  cout << "door 3 " << my_door_3 << endl;
  Vector v3(1,1,0); v3.Normalize();
  ASSERT_TRUE(approx(getDoorAngle(my_door_3), M_PI/4.0));
  ASSERT_TRUE(approx(getFrameNormal(my_door_3), Vector(1,0,0)));
  ASSERT_TRUE(approx(getDoorNormal(my_door_3), v3));

  cout << "door 4 " << my_door_4 << endl;
  ASSERT_TRUE(approx(getDoorAngle(my_door_4), M_PI/4.0));
  ASSERT_TRUE(approx(getFrameNormal(my_door_4), Vector(1,0,0)));
  ASSERT_TRUE(approx(getDoorNormal(my_door_4), v3));

  cout << "door 5 " << my_door_5 << endl;
  Vector v5(1,-1,0); v5.Normalize();
  ASSERT_TRUE(approx(getDoorAngle(my_door_5), -M_PI/4.0));
  ASSERT_TRUE(approx(getFrameNormal(my_door_5), Vector(1,0,0)));
  ASSERT_TRUE(approx(getDoorNormal(my_door_5), v5));

  cout << "door 6 " << my_door_6 << endl;
  ASSERT_TRUE(approx(getDoorAngle(my_door_6), -M_PI/4.0));
  ASSERT_TRUE(approx(getFrameNormal(my_door_6), Vector(1,0,0)));
  ASSERT_TRUE(approx(getDoorNormal(my_door_6), v5));

  SUCCEED();
}





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