checks.hpp

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#pragma once
 
#include <gtest/gtest.h>
#include <moveit/robot_state/robot_state.hpp>
 
namespace pilz_industrial_motion_planner_testutils
{
::testing::AssertionResult isAtExpectedPosition(const moveit::core::RobotState& expected,
                                                const moveit::core::RobotState& actual, const double epsilon,
                                                const std::string& group_name = "")
{
  if (group_name.empty() && expected.distance(actual) <= epsilon)
  {
    return ::testing::AssertionSuccess();
  }
  else if (!group_name.empty() && expected.distance(actual, actual.getJointModelGroup(group_name)) <= epsilon)
  {
    return ::testing::AssertionSuccess();
  }
  std::stringstream msg;
  msg << " expected: " << expected << " actual: " << actual;
 
  return ::testing::AssertionFailure() << msg.str();
}
}  // namespace pilz_industrial_motion_planner_testutils