integrationtest_plan_components_builder.cpp

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#include <memory>
#include <string>
 
#include <gtest/gtest.h>
 
#include <ros/ros.h>
 
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
 
#include <pilz_industrial_motion_planner/plan_components_builder.h>
#include <pilz_industrial_motion_planner/trajectory_blender_transition_window.h>
 
const std::string PARAM_PLANNING_GROUP_NAME("planning_group");
const std::string ROBOT_DESCRIPTION_STR{ "robot_description" };
const std::string EMPTY_VALUE{ "" };
 
using namespace pilz_industrial_motion_planner;
using namespace pilz_industrial_motion_planner;
 
class IntegrationTestPlanComponentBuilder : public testing::Test
{
protected:
  void SetUp() override;
 
protected:
  ros::NodeHandle ph_{ "~" };
  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(ROBOT_DESCRIPTION_STR).getModel() };
  planning_scene::PlanningSceneConstPtr planning_scene_{ new planning_scene::PlanningScene(robot_model_) };
 
  std::string planning_group_;
};
 
void IntegrationTestPlanComponentBuilder::SetUp()
{
  if (!robot_model_)
  {
    FAIL() << "Robot model could not be loaded.";
  }
 
  ASSERT_TRUE(ph_.getParam(PARAM_PLANNING_GROUP_NAME, planning_group_));
}
 
TEST_F(IntegrationTestPlanComponentBuilder, TestExceptionErrorCodeMapping)
{
  auto nbs_ex = std::make_shared<NoBlenderSetException>("");
  EXPECT_EQ(nbs_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::FAILURE);
 
  auto ntffse_ex = std::make_shared<NoTipFrameFunctionSetException>("");
  EXPECT_EQ(ntffse_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::FAILURE);
 
  auto nrms_ex = std::make_shared<NoRobotModelSetException>("");
  EXPECT_EQ(nrms_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::FAILURE);
 
  auto bf_ex = std::make_shared<BlendingFailedException>("");
  EXPECT_EQ(bf_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::FAILURE);
}
 
TEST_F(IntegrationTestPlanComponentBuilder, TestModelSet)
{
  robot_trajectory::RobotTrajectoryPtr traj{ new robot_trajectory::RobotTrajectory(robot_model_, planning_group_) };
  PlanComponentsBuilder builder;
 
  EXPECT_THROW(builder.append(planning_scene_, traj, 1.0), NoRobotModelSetException);
}
 
TEST_F(IntegrationTestPlanComponentBuilder, TestNoBlenderSet)
{
  robot_trajectory::RobotTrajectoryPtr traj{ new robot_trajectory::RobotTrajectory(robot_model_, planning_group_) };
  PlanComponentsBuilder builder;
  builder.setModel(robot_model_);
 
  builder.append(planning_scene_, traj, 0.0);
 
  EXPECT_THROW(builder.append(planning_scene_, traj, 1.0), NoBlenderSetException);
}
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "integrationtest_plan_components_builder");
  testing::InitGoogleTest(&argc, argv);
 
  ros::NodeHandle nh;
 
  return RUN_ALL_TESTS();
}