unittest_joint_limit.cpp

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#include <rclcpp/rclcpp.hpp>
 
#include <gtest/gtest.h>
 
#include <pilz_industrial_motion_planner/joint_limits_extension.h>
#include <pilz_industrial_motion_planner/joint_limits_interface_extension.h>
 
using namespace pilz_industrial_motion_planner;
using namespace pilz_industrial_motion_planner::joint_limits_interface;
 
namespace pilz_extensions_tests
{
class JointLimitTest : public ::testing::Test
{
protected:
  void SetUp() override
  {
    node_ = rclcpp::Node::make_shared("unittest_joint_limits_extended");
  }
  rclcpp::Node::SharedPtr node_;
};
 
TEST_F(JointLimitTest, SimpleRead)
{
  // Joints limits interface
  JointLimits joint_limits_extended;
 
  EXPECT_TRUE(declareParameters("joint_1", "", node_));
  EXPECT_TRUE(getJointLimits("joint_1", "", node_, joint_limits_extended));
 
  EXPECT_EQ(1, joint_limits_extended.max_acceleration);
  EXPECT_EQ(-1, joint_limits_extended.max_deceleration);
}
 
TEST_F(JointLimitTest, readNonExistingJointLimit)
{
  // Joints limits interface
  JointLimits joint_limits_extended;
 
  EXPECT_FALSE(getJointLimits("anything", "", node_, joint_limits_extended));
}
 
TEST_F(JointLimitTest, readInvalidParameterName)
{
  // Joints limits interface
  JointLimits joint_limits_extended;
 
  EXPECT_FALSE(getJointLimits("~anything", "", node_, joint_limits_extended));
}
 
TEST_F(JointLimitTest, OldRead)
{
  // Joints limits interface
  JointLimits joint_limits;
 
  EXPECT_TRUE(declareParameters("joint_1", "", node_));
  EXPECT_TRUE(getJointLimits("joint_1", "", node_, joint_limits));
 
  EXPECT_EQ(1, joint_limits.max_acceleration);
}
}  // namespace pilz_extensions_tests
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}