unittest_cartesian_limits_aggregator.cpp

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#include <gtest/gtest.h>
 
#include <rclcpp/rclcpp.hpp>
 
#include <pilz_industrial_motion_planner/cartesian_limit.h>
#include <pilz_industrial_motion_planner/cartesian_limits_aggregator.h>
 
class CartesianLimitsAggregator : public ::testing::Test
{
protected:
  void SetUp() override
  {
    node_ = rclcpp::Node::make_shared("unittest_cartesian_limits_aggregator");
  }
  rclcpp::Node::SharedPtr node_;
};
 
TEST_F(CartesianLimitsAggregator, OnlyVelocity)
{
  pilz_industrial_motion_planner::CartesianLimit limit =
      pilz_industrial_motion_planner::CartesianLimitsAggregator::getAggregatedLimits(node_, "only_vel");
  EXPECT_TRUE(limit.hasMaxTranslationalVelocity());
  EXPECT_EQ(limit.getMaxTranslationalVelocity(), 10);
  EXPECT_FALSE(limit.hasMaxTranslationalAcceleration());
  EXPECT_FALSE(limit.hasMaxTranslationalDeceleration());
  EXPECT_FALSE(limit.hasMaxRotationalVelocity());
}
 
TEST_F(CartesianLimitsAggregator, AllValues)
{
  pilz_industrial_motion_planner::CartesianLimit limit =
      pilz_industrial_motion_planner::CartesianLimitsAggregator::getAggregatedLimits(node_, "all_values");
  EXPECT_TRUE(limit.hasMaxTranslationalVelocity());
  EXPECT_EQ(limit.getMaxTranslationalVelocity(), 1);
 
  EXPECT_TRUE(limit.hasMaxTranslationalAcceleration());
  EXPECT_EQ(limit.getMaxTranslationalAcceleration(), 2);
 
  EXPECT_TRUE(limit.hasMaxTranslationalDeceleration());
  EXPECT_EQ(limit.getMaxTranslationalDeceleration(), -3);
 
  EXPECT_TRUE(limit.hasMaxRotationalVelocity());
  EXPECT_EQ(limit.getMaxRotationalVelocity(), 4);
}
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}