test_chain.cpp
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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 
00030 #include <gtest/gtest.h>
00031 #include <vector>
00032 #include <boost/scoped_ptr.hpp>
00033 #include "pr2_mechanism_model/robot.h"
00034 #include "pr2_mechanism_model/chain.h"
00035 #include <kdl/chainfksolverpos_recursive.hpp>
00036 
00037 using namespace pr2_mechanism_model;
00038 using namespace std;
00039 
00040 
00041 // Just three links
00042 class ShortChainTest : public testing::Test
00043 {
00044 protected:
00045   ShortChainTest() {}
00046   virtual ~ShortChainTest() {}
00047 
00048   virtual void SetUp() {}
00049 
00050   virtual void TearDown() {}
00051 
00052   pr2_hardware_interface::HardwareInterface hw;
00053 };
00054 
00055 TEST_F(ShortChainTest, FKShouldMatchOnShortChainWhenStraight)
00056 {
00057   TiXmlDocument urdf_xml;
00058   urdf_xml.LoadFile("pr2.urdf");
00059   TiXmlElement *root = urdf_xml.FirstChildElement("robot");
00060   ASSERT_TRUE(root != NULL);
00061   pr2_hardware_interface::HardwareInterface hw;
00062   Robot model(&hw);
00063   ASSERT_TRUE(model.initXml(root));
00064   RobotState state(&model);
00065 
00066   // Test no longer valid because joint state is empty when actuators are not present
00067   /*
00068   // extract chain
00069   Chain chain;
00070   EXPECT_TRUE(chain.init(&state, "fl_caster_l_wheel_link", "r_gripper_palm_link"));
00071   KDL::Chain kdl;
00072   chain.toKDL(kdl);
00073   unsigned int nr_segments = 13;
00074   unsigned int nr_joints = 10;
00075   ASSERT_EQ(nr_segments, kdl.getNrOfSegments());
00076   ASSERT_EQ(nr_joints, kdl.getNrOfJoints());
00077 
00078   KDL::JntArray jnts(state.joint_states_.size());
00079   chain.getPositions(jnts);
00080   */
00081 }
00082 
00083 int main(int argc, char **argv){
00084   testing::InitGoogleTest(&argc, argv);
00085   return RUN_ALL_TESTS();
00086 }


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Mon Dec 2 2013 13:13:02