integrationtest_sequence_service_capability.cpp File Reference

#include <functional>
#include <gtest/gtest.h>
#include <iostream>
#include <memory>
#include <string>
#include <vector>
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_state/conversions.h>
#include <moveit_msgs/Constraints.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <moveit_msgs/JointConstraint.h>
#include <moveit_msgs/MotionPlanResponse.h>
#include <ros/ros.h>
#include <pilz_industrial_motion_planner_testutils/sequence.h>
#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.h>
#include <moveit_msgs/GetMotionSequence.h>
#include <moveit_msgs/MotionSequenceRequest.h>
#include <pilz_industrial_motion_planner/capability_names.h>

Include dependency graph for integrationtest_sequence_service_capability.cpp:

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Classes
class	IntegrationTestSequenceService

Functions
const std::string	TEST_DATA_FILE_NAME ("testdata_file_name")
	TEST_F (IntegrationTestSequenceService, TestSendingOfEmptySequence)
	Test behavior of service when empty sequence is sent. More...
	TEST_F (IntegrationTestSequenceService, TestDifferingGroupNames)
	Tests that invalid (differing) group names are detected. More...
	TEST_F (IntegrationTestSequenceService, TestNegativeBlendRadius)
	Tests that negative blend radii are detected. More...
	TEST_F (IntegrationTestSequenceService, TestOverlappingBlendRadii)
	Tests that overlapping blend radii are detected. More...
	TEST_F (IntegrationTestSequenceService, TestTooLargeBlendRadii)
	Tests that too large blend radii are detected. More...
	TEST_F (IntegrationTestSequenceService, TestSecondTrajInvalidStartState)
	Tests behavior of service when sequence with invalid second start state is sent. More...
	TEST_F (IntegrationTestSequenceService, TestFirstGoalNotReachable)
	Tests behavior of service when sequence with invalid first goal is sent. More...
	TEST_F (IntegrationTestSequenceService, TestInvalidLinkName)
	Tests that incorrect link_names are detected. More...
	TEST_F (IntegrationTestSequenceService, TestLargeRequest)
	Tests the execution of a sequence with more than two commands. More...
	TEST_F (IntegrationTestSequenceService, TestComplexSequenceWithoutBlending)
	Tests the execution of a sequence command (without blending) consisting of most of the possible command type combination. More...
	TEST_F (IntegrationTestSequenceService, TestComplexSequenceWithBlending)
	Tests the execution of a sequence command (with blending) consisting of most of the possible command type combination. More...
int	main (int argc, char **argv)

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 425 of file integrationtest_sequence_service_capability.cpp.

TEST_DATA_FILE_NAME()

const std::string TEST_DATA_FILE_NAME

(

"testdata_file_name"

)

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TEST_F() [1/11]

TEST_F	(	IntegrationTestSequenceService	,
		TestComplexSequenceWithBlending
	)

Tests the execution of a sequence command (with blending) consisting of most of the possible command type combination.

Test Sequence:

1. Create sequence goal and send it via ActionClient.
2. Wait for successful completion of command.

Expected Results:

1. -
2. ActionClient reports successful completion of command.

Definition at line 409 of file integrationtest_sequence_service_capability.cpp.

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TEST_F() [2/11]

TEST_F	(	IntegrationTestSequenceService	,
		TestComplexSequenceWithoutBlending
	)

Tests the execution of a sequence command (without blending) consisting of most of the possible command type combination.

Test Sequence:

1. Create sequence goal and send it via ActionClient.
2. Wait for successful completion of command.

Expected Results:

1. -
2. ActionClient reports successful completion of command.

Definition at line 379 of file integrationtest_sequence_service_capability.cpp.

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TEST_F() [3/11]

TEST_F	(	IntegrationTestSequenceService	,
		TestDifferingGroupNames
	)

Tests that invalid (differing) group names are detected.

Test Sequence:

1. Generate request, first request has invalid group_name + Call sequence service.
2. Invalidate first request (change group_name) and send goal for planning and execution.

Expected Results:

1. MotionPlanResponse is received.
2. Command fails, result trajectory is empty.

Definition at line 137 of file integrationtest_sequence_service_capability.cpp.

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TEST_F() [4/11]

TEST_F	(	IntegrationTestSequenceService	,
		TestFirstGoalNotReachable
	)

Tests behavior of service when sequence with invalid first goal is sent.

Test Sequence:

1. Generate request with first goal out of workspace + Call sequence service.
2. Evaluate the result

Expected Results:

1. MotionPlanResponse is received.
2. Command fails, result trajectory is empty.

Definition at line 278 of file integrationtest_sequence_service_capability.cpp.

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TEST_F() [5/11]

TEST_F	(	IntegrationTestSequenceService	,
		TestInvalidLinkName
	)

Tests that incorrect link_names are detected.

Test Sequence:

1. Create sequence and send it.
2. Wait for successful completion of command.

Expected Results:

1. MotionPlanResponse is received.
2. Command fails, result trajectory is empty.

Definition at line 305 of file integrationtest_sequence_service_capability.cpp.

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TEST_F() [6/11]

TEST_F	(	IntegrationTestSequenceService	,
		TestLargeRequest
	)

Tests the execution of a sequence with more than two commands.

Test Sequence:

1. Call service with several requests.
2. Evaluate the result.

Expected Results:

1. MotionPlanResponse is received.
2. Command succeeds, result trajectory is not empty.

Definition at line 335 of file integrationtest_sequence_service_capability.cpp.

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TEST_F() [7/11]

TEST_F	(	IntegrationTestSequenceService	,
		TestNegativeBlendRadius
	)

Tests that negative blend radii are detected.

Test Sequence:

1. Generate request with negative blend_radius + Call sequence service.
2. Evaluate the result.

Expected Results:

1. MotionPlanResponse is received.
2. Command fails, result trajectory is empty.

Definition at line 164 of file integrationtest_sequence_service_capability.cpp.

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TEST_F() [8/11]

TEST_F	(	IntegrationTestSequenceService	,
		TestOverlappingBlendRadii
	)

Tests that overlapping blend radii are detected.

Test Sequence:

1. Generate request with overlapping blend radii + Call sequence service.
2. Evaluate the result.

Expected Results:

1. MotionPlanResponse is received.
2. Command fails, result trajectory is empty.

Definition at line 190 of file integrationtest_sequence_service_capability.cpp.

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TEST_F() [9/11]

TEST_F	(	IntegrationTestSequenceService	,
		TestSecondTrajInvalidStartState
	)

Tests behavior of service when sequence with invalid second start state is sent.

Test Sequence:

1. Generate request (second goal has invalid start state) + Call sequence service.
2. Evaluate the result

Expected Results:

1. MotionPlanResponse is received.
2. Command fails, result trajectory is empty.

Definition at line 245 of file integrationtest_sequence_service_capability.cpp.

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TEST_F() [10/11]

TEST_F	(	IntegrationTestSequenceService	,
		TestSendingOfEmptySequence
	)

Test behavior of service when empty sequence is sent.

Test Sequence:

1. Generate empty request and call sequence service.
2. Evaluate the result.

Expected Results:

1. MotionPlanResponse is received.
2. Command is successful, result trajectory is empty.

Definition at line 111 of file integrationtest_sequence_service_capability.cpp.

TEST_F() [11/11]

TEST_F	(	IntegrationTestSequenceService	,
		TestTooLargeBlendRadii
	)

Tests that too large blend radii are detected.

Test Sequence:

1. Generate request with too large blend radii + Call sequence service.
2. Evaluate the result.

Expected Results:

1. MotionPlanResponse is received.
2. Command fails, result trajectory is empty.

Definition at line 216 of file integrationtest_sequence_service_capability.cpp.

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