test.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/robot_model/robot_model.h>
#include <urdf_parser/urdf_parser.h>
#include <fstream>
#include <gtest/gtest.h>
 
#include <moveit/utils/robot_model_test_utils.h>
 
class LoadPlanningModelsPr2 : public testing::Test
{
protected:
  void SetUp() override
  {
    robot_model_ = moveit::core::loadTestingRobotModel("pr2");
  };
 
  void TearDown() override
  {
  }
 
protected:
  moveit::core::RobotModelConstPtr robot_model_;
};
 
TEST_F(LoadPlanningModelsPr2, InitOK)
{
  ASSERT_EQ(robot_model_->getURDF()->getName(), "pr2");
  ASSERT_EQ(robot_model_->getSRDF()->getName(), "pr2");
}
 
TEST_F(LoadPlanningModelsPr2, Model)
{
  // robot_model_->printModelInfo(std::cout);
 
  const std::vector<const moveit::core::JointModel*>& joints = robot_model_->getJointModels();
  for (std::size_t i = 0; i < joints.size(); ++i)
  {
    ASSERT_EQ(joints[i]->getJointIndex(), i);
    ASSERT_EQ(robot_model_->getJointModel(joints[i]->getName()), joints[i]);
  }
  const std::vector<const moveit::core::LinkModel*>& links = robot_model_->getLinkModels();
  for (std::size_t i = 0; i < links.size(); ++i)
  {
    ASSERT_EQ(links[i]->getLinkIndex(), i);
  }
 
  // This joint has effort and velocity limits defined in the URDF. Nothing else.
  const std::string joint_name = "fl_caster_rotation_joint";
  const auto& joint = robot_model_->getJointModel(joint_name);
  const auto& bounds = joint->getVariableBounds(joint->getName());
 
  EXPECT_TRUE(bounds.velocity_bounded_);
  EXPECT_EQ(bounds.max_velocity_, 10.0);
 
  EXPECT_FALSE(bounds.position_bounded_);
  EXPECT_FALSE(bounds.acceleration_bounded_);
  EXPECT_FALSE(bounds.jerk_bounded_);
}
 
TEST(SiblingAssociateLinks, SimpleYRobot)
{
  // base_link - a - b - c  //
  //               \        //
  //               - d ~ e  //
  moveit::core::RobotModelBuilder builder("one_robot", "base_link");
  builder.addChain("base_link->a", "continuous");
  builder.addChain("a->b->c", "fixed");
  builder.addChain("a->d", "fixed");
  builder.addChain("d->e", "continuous");
  builder.addVirtualJoint("odom", "base_link", "planar", "base_joint");
  builder.addGroup({}, { "base_joint" }, "base_joint");
  ASSERT_TRUE(builder.isValid());
  moveit::core::RobotModelConstPtr robot_model = builder.build();
 
  const std::string a = "a", b = "b", c = "c", d = "d";
  auto connected = { a, b, c, d };  // these are rigidly connected with each other
  moveit::core::LinkTransformMap map;
 
  for (const std::string& root : connected)
  {
    SCOPED_TRACE("root: " + root);
    std::set<std::string> expected_set(connected);
    expected_set.erase(root);
    std::set<std::string> actual_set;
    for (const auto& item : robot_model->getLinkModel(root)->getAssociatedFixedTransforms())
      actual_set.insert(item.first->getName());
 
    std::ostringstream expected, actual;
    std::copy(expected_set.begin(), expected_set.end(), std::ostream_iterator<std::string>(expected, " "));
    std::copy(actual_set.begin(), actual_set.end(), std::ostream_iterator<std::string>(actual, " "));
 
    EXPECT_EQ(expected.str(), actual.str());
  }
}
 
TEST(FloatingJointTest, interpolation_test)
{
  // Create a simple floating joint model with some dummy parameters (these are not used by the test)
  moveit::core::FloatingJointModel fjm("joint", 0, 0);
 
  // We set some bounds where the joint position's translation component is bounded between -1 and 1 in all
  // dimensions. This is necessary, otherwise we just get (0,0,0) translations.
  moveit::core::JointModel::Bounds bounds;
  bounds = fjm.getVariableBounds();
  bounds[0].min_position_ = -1.0;
  bounds[0].max_position_ = 1.0;
  bounds[1].min_position_ = -1.0;
  bounds[1].max_position_ = 1.0;
  bounds[2].min_position_ = -1.0;
  bounds[2].max_position_ = 1.0;
 
  double jv1[7];
  double jv2[7];
  double intp[7];
  random_numbers::RandomNumberGenerator rng;
 
  for (size_t i = 0; i < 1000; ++i)
  {
    // Randomize the joint settings.
    fjm.getVariableRandomPositions(rng, jv1, bounds);
    fjm.getVariableRandomPositions(rng, jv2, bounds);
 
    // Pick a random interpolation value
    double t = rng.uniformReal(0.0, 1.0);
 
    // Apply the interpolation
    fjm.interpolate(jv1, jv2, t, intp);
 
    // Get the distances between the two joint configurations
    double d1 = fjm.distance(jv1, intp);
    double d2 = fjm.distance(jv2, intp);
    double t_total = fjm.distance(jv1, jv2);
 
    // Check that the resulting distances match with the interpolation value
    EXPECT_NEAR(d1, t_total * t, 1e-6);
    EXPECT_NEAR(d2, t_total * (1.0 - t), 1e-6);
  }
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}