unittest_joint_limits_aggregator.cpp

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#include <gtest/gtest.h>
 
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
 
#include <pilz_industrial_motion_planner/joint_limits_aggregator.h>
#include <pilz_industrial_motion_planner/joint_limits_extension.h>
#include <pilz_industrial_motion_planner/joint_limits_interface_extension.h>
 
#include <rclcpp/rclcpp.hpp>
 
class JointLimitsAggregator : public ::testing::Test
{
protected:
  void SetUp() override
  {
    rclcpp::NodeOptions node_options;
    // node_options.automatically_declare_parameters_from_overrides(true);
    node_ = rclcpp::Node::make_shared("unittest_joint_limits_aggregator", node_options);
 
    // load robot model
    rm_loader_ = std::make_unique<robot_model_loader::RobotModelLoader>(node_);
    robot_model_ = rm_loader_->getModel();
    ASSERT_TRUE(bool(robot_model_)) << "Failed to load robot model";
  }
 
  void TearDown() override
  {
    robot_model_.reset();
  }
 
protected:
  rclcpp::Node::SharedPtr node_;
  moveit::core::RobotModelConstPtr robot_model_;
  std::unique_ptr<robot_model_loader::RobotModelLoader> rm_loader_;
};
 
TEST_F(JointLimitsAggregator, ExpectedMapSize)
{
  pilz_industrial_motion_planner::JointLimitsContainer container =
      pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(node_, "",
                                                                                 robot_model_->getActiveJointModels());
 
  EXPECT_EQ(robot_model_->getActiveJointModels().size(), container.getCount());
}
 
TEST_F(JointLimitsAggregator, CorrectOverwriteByParamterPosition)
{
  pilz_industrial_motion_planner::JointLimitsContainer container =
      pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(node_, "all_valid",
                                                                                 robot_model_->getActiveJointModels());
 
  for (const auto& lim : container)
  {
    // Check for the overwrite
    if (lim.first == "prbt_joint_1")
    {
      EXPECT_EQ(2, container.getLimit(lim.first).max_position);
      EXPECT_EQ(-2, container.getLimit(lim.first).min_position);
    }
    // Check that nothing else changed
    else
    {
      EXPECT_EQ(robot_model_->getJointModel(lim.first)->getVariableBounds()[0].min_position_,
                container.getLimit(lim.first).min_position);
      EXPECT_EQ(robot_model_->getJointModel(lim.first)->getVariableBounds()[0].max_position_,
                container.getLimit(lim.first).max_position);
    }
  }
}
 
TEST_F(JointLimitsAggregator, CorrectOverwriteByParamterVelocity)
{
  pilz_industrial_motion_planner::JointLimitsContainer container =
      pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(node_, "all_valid",
                                                                                 robot_model_->getActiveJointModels());
 
  for (const auto& lim : container)
  {
    // Check that velocity was only changed in joint "prbt_joint_3"
    if (lim.first == "prbt_joint_3")
    {
      EXPECT_EQ(1.1, container.getLimit(lim.first).max_velocity);
    }
    else
    {
      EXPECT_EQ(robot_model_->getJointModel(lim.first)->getVariableBounds()[0].max_velocity_,
                container.getLimit(lim.first).max_velocity);
    }
  }
}
 
TEST_F(JointLimitsAggregator, CorrectSettingAccelerationAndDeceleration)
{
  pilz_industrial_motion_planner::JointLimitsContainer container =
      pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(node_, "all_valid",
                                                                                 robot_model_->getActiveJointModels());
 
  for (const auto& lim : container)
  {
    if (lim.first == "prbt_joint_4")
    {
      EXPECT_EQ(5.5, container.getLimit(lim.first).max_acceleration) << lim.first;
      EXPECT_EQ(-5.5, container.getLimit(lim.first).max_deceleration) << lim.first;
    }
    else if (lim.first == "prbt_joint_5")
    {
      EXPECT_TRUE(std::isnan(container.getLimit(lim.first).max_acceleration)) << lim.first;
      EXPECT_EQ(-6.6, container.getLimit(lim.first).max_deceleration) << lim.first;
    }
    else
    {
      EXPECT_TRUE(std::isnan(container.getLimit(lim.first).max_acceleration)) << lim.first;
      EXPECT_EQ(0, container.getLimit(lim.first).max_deceleration) << lim.first;
    }
  }
}
 
TEST_F(JointLimitsAggregator, LimitsViolationPosition)
{
  EXPECT_THROW(pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
                   node_, "violate_position_min", robot_model_->getActiveJointModels()),
               pilz_industrial_motion_planner::AggregationBoundsViolationException);
 
  EXPECT_THROW(pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
                   node_, "violate_position_max", robot_model_->getActiveJointModels()),
               pilz_industrial_motion_planner::AggregationBoundsViolationException);
}
 
TEST_F(JointLimitsAggregator, LimitsViolationVelocity)
{
  EXPECT_THROW(pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
                   node_, "violate_velocity", robot_model_->getActiveJointModels()),
               pilz_industrial_motion_planner::AggregationBoundsViolationException);
}
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}