regress_linear.cpp

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#include <gtest/gtest.h>
#include <arm_navigation_msgs/JointTrajectoryWithLimits.h>
#include <spline_smoother/linear_trajectory.h>

using namespace spline_smoother;

TEST(TestLinearTrajectory, TestLinearTrajectory)
{
  spline_smoother::LinearTrajectory traj;

  // create the input:
  int length = 4;
  int joints = 2;

  arm_navigation_msgs::JointTrajectoryWithLimits wpt;
  wpt.trajectory.points.resize(length);
  wpt.trajectory.joint_names.resize(joints);
  wpt.trajectory.joint_names[0] = std::string("test0");
  wpt.trajectory.joint_names[1] = std::string("test1");

  wpt.limits.resize(joints);
  wpt.limits[0].max_velocity = 0.5;
  wpt.limits[0].has_velocity_limits = 1;

  wpt.limits[1].max_velocity = 0.25;
  wpt.limits[1].has_velocity_limits = 1;

  for (int i=0; i<length; i++)
  {
    wpt.trajectory.points[i].positions.resize(joints);
    wpt.trajectory.points[i].velocities.resize(joints);
    wpt.trajectory.points[i].accelerations.resize(joints);
    for(int j=0; j<joints; j++)
    {
      wpt.trajectory.points[i].positions[j] = i+j;
      wpt.trajectory.points[i].velocities[j] = 0.0;
      wpt.trajectory.points[i].accelerations[j] = 0.0;
    }
    wpt.trajectory.points[i].time_from_start = ros::Duration(0.0);
  }

  spline_smoother::SplineTrajectory spline;
  bool success = traj.parameterize(wpt.trajectory,wpt.limits,spline);

  double total_time;
  bool ss = spline_smoother::getTotalTime(spline,total_time);
  EXPECT_TRUE(ss);

  double dT = 0.01;
  int sample_length = (int) (total_time/dT);

  std::vector<double> times;
  times.resize(sample_length);
  for (int i=0; i<sample_length; i++)
  {
    times[i] = dT*i;
  }
//  traj->write(spline,times,"test_linear.txt");

  EXPECT_TRUE(success);

  trajectory_msgs::JointTrajectory wpt_out;
  std::vector<double> times_out;
  times_out.resize(length);
  for (int i=0; i<length; i++)
  {
    times_out[i] = i;
  }
  spline_smoother::sampleSplineTrajectory(spline,times_out,wpt_out);

  EXPECT_NEAR(wpt_out.points[0].positions[0], 0.0, 1e-8);
  EXPECT_NEAR(wpt_out.points[1].positions[0], 0.25, 1e-8);
  EXPECT_NEAR(wpt_out.points[2].positions[0], 0.5, 1e-8);
  EXPECT_NEAR(wpt_out.points[3].positions[0], 0.75, 1e-8);

}

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