joint_space_move_test.cpp

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/*                                                                                
 * Copyright (c) 2008, Willow Garage, Inc.                                        
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 * Author: Melonee Wise                                                            
 */

#include <ros/ros.h>
#include <gtest/gtest.h>
#include <pr2_plugs_common/joint_space_move.h>
#include <pr2_controllers_msgs/JointTrajectoryAction.h>
#include <actionlib/server/simple_action_server.h>
#include <boost/thread.hpp>

typedef actionlib::SimpleActionServer<pr2_controllers_msgs::JointTrajectoryAction> Server;

void execute(const pr2_controllers_msgs::JointTrajectoryGoalConstPtr& goal, Server* as)
{
  double joint_pos[] = {1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0};
  std::vector<double> pos (joint_pos, joint_pos + sizeof(joint_pos) / sizeof(double) );
  if(goal->trajectory.points[0].positions == pos)
    as->setSucceeded();
  else
    as->setAborted();
}

void spinThread()
{
  ros::spin();
}


TEST(JointSpaceMove, test_failure)
{

  EXPECT_TRUE(pr2_plugs_common::gotoJointPosition(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, true));

}

int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "trajectory_unwrap_test");
  ros::NodeHandle n;
  Server server(n, "r_arm_controller/joint_trajectory_action", boost::bind(&execute, _1, &server));
  boost::thread spin_thread(&spinThread);
  int log = RUN_ALL_TESTS();
  ros::shutdown();
  spin_thread.join();
  return log;
  
}