test_threadsafe_state_storage.cpp

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/* Author: Pradeep Rajendran */
/*
This test checks if a state can be set in TSSafeStateStorage and correctly retrieved.
The skeleton of this test was taken from test_state_validity_checker.cpp by Jeroen De Maeyer.
*/
 
#include "load_test_robot.h"
#include <moveit/ompl_interface/detail/threadsafe_state_storage.h>
#include <gtest/gtest.h>
 
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ompl_planning.test.test_thread_safe_storage");
 
class TestThreadSafeStateStorage : public ompl_interface_testing::LoadTestRobot, public testing::Test
{
public:
  TestThreadSafeStateStorage(const std::string& robot_name, const std::string& group_name)
    : LoadTestRobot(robot_name, group_name)
  {
  }
 
  void testReadback(const std::vector<double>& position_in_limits)
  {
    SCOPED_TRACE("testConstruction");
 
    // Set the robot_state_ to the given position
    robot_state_->setJointGroupPositions(joint_model_group_, position_in_limits);
 
    // Construct the TSStateStorage using the constructor taking the robot state
    ompl_interface::TSStateStorage const tss(*robot_state_);
 
    // Readback the stored state
    auto robot_state_stored = tss.getStateStorage();
 
    // Check if robot_state_stored's joint angles matches with what we set
    for (auto const& joint_name : robot_state_->getVariableNames())
    {
      auto const expected_value = robot_state_->getVariablePosition(joint_name);
      auto const actual_value = robot_state_stored->getVariablePosition(joint_name);
      EXPECT_EQ(actual_value, expected_value) << "Expecting joint value for " << joint_name << " to match.";
    }
  }
 
protected:
  void SetUp() override
  {
  }
};
 
// /***************************************************************************
//  * Run all tests on the Panda robot
//  * ************************************************************************/
class PandaTest : public TestThreadSafeStateStorage
{
protected:
  PandaTest() : TestThreadSafeStateStorage("panda", "panda_arm")
  {
  }
};
 
TEST_F(PandaTest, testConstruction)
{
  testReadback({ 0., -0.785, 0., -2.356, 0., 1.571, 0.785 });
}
 
/***************************************************************************
 * Run all tests on the Fanuc robot
 * ************************************************************************/
class FanucTest : public TestThreadSafeStateStorage
{
protected:
  FanucTest() : TestThreadSafeStateStorage("fanuc", "manipulator")
  {
  }
};
 
TEST_F(FanucTest, testConstructor)
{
  testReadback({ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 });
}
 
/***************************************************************************
 * MAIN
 * ************************************************************************/
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}