unittest_trajectory_functions.cpp

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#include <cstdint>
#include <gtest/gtest.h>
 
#include <map>
#include <math.h>
#include <string>
#include <vector>
 
#include <Eigen/Geometry>
#include <kdl/frames.hpp>
#include <kdl/path_roundedcomposite.hpp>
#include <kdl/rotational_interpolation_sa.hpp>
#include <kdl/trajectory.hpp>
#include <kdl/trajectory_segment.hpp>
#include <kdl/velocityprofile_trap.hpp>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/robot_model/joint_model_group.hpp>
#include <moveit/robot_model/robot_model.hpp>
#include <moveit/robot_model_loader/robot_model_loader.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
#include <pilz_industrial_motion_planner/cartesian_trajectory.hpp>
#include <pilz_industrial_motion_planner/cartesian_trajectory_point.hpp>
#include <pilz_industrial_motion_planner/limits_container.hpp>
#include <pilz_industrial_motion_planner/trajectory_functions.hpp>
#include "test_utils.hpp"
 
#define _USE_MATH_DEFINES
 
static constexpr double EPSILON{ 1.0e-6 };
static constexpr double IK_SEED_OFFSET{ 0.1 };
static constexpr double L0{ 0.2604 };  // Height of foot
static constexpr double L1{ 0.3500 };  // Height of first connector
static constexpr double L2{ 0.3070 };  // Height of second connector
static constexpr double L3{ 0.0840 };  // Distance last joint to flange
 
// parameters from parameter server
const std::string RANDOM_TEST_NUMBER("random_test_number");

class TrajectoryFunctionsTestBase : 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_trajectory_functions", 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";
    robot_state_ = std::make_shared<moveit::core::RobotState>(robot_model_);
    planning_scene_ = std::make_shared<planning_scene::PlanningScene>(robot_model_);
 
    // get parameters
    ASSERT_TRUE(node_->has_parameter("planning_group"));
    node_->get_parameter<std::string>("planning_group", planning_group_);
    ASSERT_TRUE(node_->has_parameter("group_tip_link"));
    node_->get_parameter<std::string>("group_tip_link", group_tip_link_);
    ASSERT_TRUE(node_->has_parameter("tcp_link"));
    node_->get_parameter<std::string>("tcp_link", tcp_link_);
    ASSERT_TRUE(node_->has_parameter("ik_fast_link"));
    node_->get_parameter<std::string>("ik_fast_link", ik_fast_link_);
    ASSERT_TRUE(node_->has_parameter("random_test_number"));
    node_->get_parameter<int>("random_test_number", random_test_number_);
 
    // check robot model
    testutils::checkRobotModel(robot_model_, planning_group_, tcp_link_);
 
    // initialize the zero state configurationg and test joint state
    joint_names_ = robot_model_->getJointModelGroup(planning_group_)->getActiveJointModelNames();
    for (const auto& joint_name : joint_names_)
    {
      zero_state_[joint_name] = 0.0;
    }
  }
 
  void TearDown() override
  {
    robot_model_.reset();
  }

  bool tfNear(const Eigen::Isometry3d& pose1, const Eigen::Isometry3d& pose2, double epsilon);

  bool jointsNear(const std::vector<double>& joints1, const std::vector<double>& joints2, double epsilon);

  std::vector<double> getJoints(const moveit::core::JointModelGroup* jmg, const moveit::core::RobotState& state);

  void attachToLink(moveit::core::RobotState& state, const moveit::core::LinkModel* link,
                    const std::string& object_name, const Eigen::Isometry3d& object_pose,
                    const moveit::core::FixedTransformsMap& subframes);
 
protected:
  // ros stuff
  rclcpp::Node::SharedPtr node_;
  moveit::core::RobotModelConstPtr robot_model_;
  moveit::core::RobotStatePtr robot_state_;
  std::unique_ptr<robot_model_loader::RobotModelLoader> rm_loader_;
  planning_scene::PlanningSceneConstPtr planning_scene_;
 
  // test parameters from parameter server
  std::string planning_group_, group_tip_link_, tcp_link_, ik_fast_link_;
  int random_test_number_;
  std::vector<std::string> joint_names_;
  std::map<std::string, double> zero_state_;
 
  // random seed
  uint32_t random_seed_{ 100 };
  random_numbers::RandomNumberGenerator rng_{ random_seed_ };
};
 
bool TrajectoryFunctionsTestBase::tfNear(const Eigen::Isometry3d& pose1, const Eigen::Isometry3d& pose2, double epsilon)
{
  for (std::size_t i = 0; i < 3; ++i)
  {
    for (std::size_t j = 0; j < 4; ++j)
    {
      if (fabs(pose1(i, j) - pose2(i, j)) > fabs(epsilon))
        return false;
    }
  }
  return true;
}
 
bool TrajectoryFunctionsTestBase::jointsNear(const std::vector<double>& joints1, const std::vector<double>& joints2,
                                             double epsilon)
{
  if (joints1.size() != joints2.size())
  {
    return false;
  }
  for (std::size_t i = 0; i < joints1.size(); ++i)
  {
    if (fabs(joints1.at(i) - joints2.at(i)) > fabs(epsilon))
    {
      return false;
    }
  }
  return true;
}
 
std::vector<double> TrajectoryFunctionsTestBase::getJoints(const moveit::core::JointModelGroup* jmg,
                                                           const moveit::core::RobotState& state)
{
  std::vector<double> joints;
  for (const auto& name : jmg->getActiveJointModelNames())
  {
    joints.push_back(state.getVariablePosition(name));
  }
  return joints;
}
 
void TrajectoryFunctionsTestBase::attachToLink(moveit::core::RobotState& state, const moveit::core::LinkModel* link,
                                               const std::string& object_name, const Eigen::Isometry3d& object_pose,
                                               const moveit::core::FixedTransformsMap& subframes)
{
  state.attachBody(std::make_unique<moveit::core::AttachedBody>(
      link, object_name, object_pose, std::vector<shapes::ShapeConstPtr>{}, EigenSTL::vector_Isometry3d{},
      std::set<std::string>{}, trajectory_msgs::msg::JointTrajectory{}, subframes));
}

class TrajectoryFunctionsTestFlangeAndGripper : public TrajectoryFunctionsTestBase
{
};
 
// TODO(henningkayser): re-enable gripper tests
// /**
//  * @brief Parametrized class for tests, that only run with a gripper
//  */
// class TrajectoryFunctionsTestOnlyGripper : public TrajectoryFunctionsTestBase
// {
// };

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, TipLinkFK)
{
  Eigen::Isometry3d tip_pose;
  std::map<std::string, double> test_state = zero_state_;
  EXPECT_TRUE(pilz_industrial_motion_planner::computeLinkFK(*robot_state_, group_tip_link_, test_state, tip_pose));
  EXPECT_NEAR(tip_pose(0, 3), 0, EPSILON);
  EXPECT_NEAR(tip_pose(1, 3), 0, EPSILON);
  EXPECT_NEAR(tip_pose(2, 3), L0 + L1 + L2 + L3, EPSILON);
 
  test_state[joint_names_.at(1)] = M_PI_2;
  EXPECT_TRUE(pilz_industrial_motion_planner::computeLinkFK(*robot_state_, group_tip_link_, test_state, tip_pose));
  EXPECT_NEAR(tip_pose(0, 3), L1 + L2 + L3, EPSILON);
  EXPECT_NEAR(tip_pose(1, 3), 0, EPSILON);
  EXPECT_NEAR(tip_pose(2, 3), L0, EPSILON);
 
  test_state[joint_names_.at(1)] = -M_PI_2;
  test_state[joint_names_.at(2)] = M_PI_2;
  EXPECT_TRUE(pilz_industrial_motion_planner::computeLinkFK(*robot_state_, group_tip_link_, test_state, tip_pose));
  EXPECT_NEAR(tip_pose(0, 3), -L1, EPSILON);
  EXPECT_NEAR(tip_pose(1, 3), 0, EPSILON);
  EXPECT_NEAR(tip_pose(2, 3), L0 - L2 - L3, EPSILON);
 
  // wrong link name
  std::string link_name = "wrong_link_name";
  EXPECT_FALSE(pilz_industrial_motion_planner::computeLinkFK(*robot_state_, link_name, test_state, tip_pose));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIKSolver)
{
  // Load solver
  const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
  const kinematics::KinematicsBaseConstPtr& solver = jmg->getSolverInstance();
 
  if (!solver)
  {
    throw("No IK solver configured for group '" + planning_group_ + "'");
  }
  // robot state
  moveit::core::RobotState rstate(robot_model_);
 
  while (random_test_number_ > 0)
  {
    // sample random robot state
    rstate.setToRandomPositions(jmg, rng_);
    rstate.update();
    geometry_msgs::msg::Pose pose_expect = tf2::toMsg(rstate.getFrameTransform(ik_fast_link_));
 
    // prepare inverse kinematics
    std::vector<geometry_msgs::msg::Pose> ik_poses;
    ik_poses.push_back(pose_expect);
    std::vector<double> ik_seed, ik_expect, ik_actual;
    for (const auto& joint_name : jmg->getActiveJointModelNames())
    {
      ik_expect.push_back(rstate.getVariablePosition(joint_name));
      if (rstate.getVariablePosition(joint_name) > 0)
      {
        ik_seed.push_back(rstate.getVariablePosition(joint_name) - IK_SEED_OFFSET);
      }
      else
      {
        ik_seed.push_back(rstate.getVariablePosition(joint_name) + IK_SEED_OFFSET);
      }
    }
 
    std::vector<std::vector<double>> ik_solutions;
    kinematics::KinematicsResult ik_result;
    moveit_msgs::msg::MoveItErrorCodes err_code;
    kinematics::KinematicsQueryOptions options = kinematics::KinematicsQueryOptions();
 
    // compute all ik solutions
    EXPECT_TRUE(solver->getPositionIK(ik_poses, ik_seed, ik_solutions, ik_result, options));
 
    // compute one ik solution
    EXPECT_TRUE(solver->getPositionIK(pose_expect, ik_seed, ik_actual, err_code));
 
    ASSERT_EQ(ik_expect.size(), ik_actual.size());
 
    for (std::size_t i = 0; i < ik_expect.size(); ++i)
    {
      EXPECT_NEAR(ik_actual.at(i), ik_expect.at(i), 4 * IK_SEED_OFFSET);
    }
 
    --random_test_number_;
  }
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIKRobotState)
{
  // robot state
  moveit::core::RobotState rstate(robot_model_);
  const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
 
  while (random_test_number_ > 0)
  {
    // sample random robot state
    rstate.setToRandomPositions(jmg, rng_);
 
    Eigen::Isometry3d pose_expect = rstate.getFrameTransform(tcp_link_);
 
    // copy the random state and set ik seed
    std::map<std::string, double> ik_seed, ik_expect;
    for (const auto& joint_name : joint_names_)
    {
      ik_expect[joint_name] = rstate.getVariablePosition(joint_name);
      if (rstate.getVariablePosition(joint_name) > 0)
      {
        ik_seed[joint_name] = rstate.getVariablePosition(joint_name) - IK_SEED_OFFSET;
      }
      else
      {
        ik_seed[joint_name] = rstate.getVariablePosition(joint_name) + IK_SEED_OFFSET;
      }
    }
 
    rstate.setVariablePositions(ik_seed);
    rstate.update();
 
    // compute the ik
    std::map<std::string, double> ik_actual;
 
    EXPECT_TRUE(rstate.setFromIK(robot_model_->getJointModelGroup(planning_group_), pose_expect, tcp_link_));
 
    for (const auto& joint_name : joint_names_)
    {
      ik_actual[joint_name] = rstate.getVariablePosition(joint_name);
    }
 
    // compare ik solution and expected value
    for (const auto& joint_pair : ik_actual)
    {
      EXPECT_NEAR(joint_pair.second, ik_expect.at(joint_pair.first), 4 * IK_SEED_OFFSET);
    }
 
    // compute the pose from ik_solution
    rstate.setVariablePositions(ik_actual);
    rstate.update();
    Eigen::Isometry3d pose_actual = rstate.getFrameTransform(tcp_link_);
 
    EXPECT_TRUE(tfNear(pose_expect, pose_actual, EPSILON));
 
    --random_test_number_;
  }
}
 
TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIKRobotStateWithIdentityCollisionObject)
{
  // Set up a default robot
  moveit::core::RobotState state(robot_model_);
  state.setToDefaultValues();
  const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
 
  std::vector<double> default_joints = getJoints(jmg, state);
  const moveit::core::LinkModel* tip_link = robot_model_->getLinkModel(tcp_link_);
  Eigen::Isometry3d tip_pose_in_base = state.getFrameTransform(tcp_link_);
 
  // Attach an object with ignored subframes, and no transform
  Eigen::Isometry3d object_pose_in_tip = Eigen::Isometry3d::Identity();
  moveit::core::FixedTransformsMap subframes({ { "ignored", Eigen::Isometry3d::Identity() } });
  attachToLink(state, tip_link, "object", object_pose_in_tip, subframes);
 
  // The RobotState should be able to use an object pose to set the joints
  Eigen::Isometry3d object_pose_in_base = tip_pose_in_base * object_pose_in_tip;
  bool success = state.setFromIK(jmg, object_pose_in_base, "object");
  EXPECT_TRUE(success);
 
  // Given the target pose is the default pose of the object, the joints should be unchanged
  std::vector<double> ik_joints = getJoints(jmg, state);
  EXPECT_TRUE(jointsNear(ik_joints, default_joints, 4 * IK_SEED_OFFSET));
}
 
TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIKRobotStateWithTransformedCollisionObject)
{
  // Set up a default robot
  moveit::core::RobotState state(robot_model_);
  state.setToDefaultValues();
  const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
 
  std::vector<double> default_joints = getJoints(jmg, state);
  const moveit::core::LinkModel* tip_link = robot_model_->getLinkModel(tcp_link_);
  Eigen::Isometry3d tip_pose_in_base = state.getFrameTransform(tcp_link_);
 
  // Attach an object with ignored subframes, and a non-trivial transform
  Eigen::Isometry3d object_pose_in_tip;
  object_pose_in_tip = Eigen::Translation3d(1, 2, 3);
  object_pose_in_tip *= Eigen::AngleAxis(M_PI_2, Eigen::Vector3d::UnitX());
  moveit::core::FixedTransformsMap subframes({ { "ignored", Eigen::Isometry3d::Identity() } });
  attachToLink(state, tip_link, "object", object_pose_in_tip, subframes);
 
  // The RobotState should be able to use an object pose to set the joints
  Eigen::Isometry3d object_pose_in_base = tip_pose_in_base * object_pose_in_tip;
  bool success = state.setFromIK(jmg, object_pose_in_base, "object");
  EXPECT_TRUE(success);
 
  // Given the target pose is the default pose of the object, the joints should be unchanged
  std::vector<double> ik_joints = getJoints(jmg, state);
  EXPECT_TRUE(jointsNear(ik_joints, default_joints, 4 * IK_SEED_OFFSET));
}
 
TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIKRobotStateWithIdentitySubframe)
{
  // Set up a default robot
  moveit::core::RobotState state(robot_model_);
  state.setToDefaultValues();
  const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
 
  std::vector<double> default_joints = getJoints(jmg, state);
  const moveit::core::LinkModel* tip_link = robot_model_->getLinkModel(tcp_link_);
  Eigen::Isometry3d tip_pose_in_base = state.getFrameTransform(tcp_link_);
 
  // Attach an object and subframe with no transforms
  Eigen::Isometry3d object_pose_in_tip = Eigen::Isometry3d::Identity();
  Eigen::Isometry3d subframe_pose_in_object = Eigen::Isometry3d::Identity();
  moveit::core::FixedTransformsMap subframes({ { "subframe", subframe_pose_in_object } });
  attachToLink(state, tip_link, "object", object_pose_in_tip, subframes);
 
  // The RobotState should be able to use a subframe pose to set the joints
  Eigen::Isometry3d subframe_pose_in_base = tip_pose_in_base * object_pose_in_tip * subframe_pose_in_object;
  bool success = state.setFromIK(jmg, subframe_pose_in_base, "object/subframe");
  EXPECT_TRUE(success);
 
  // Given the target pose is the default pose of the subframe, the joints should be unchanged
  std::vector<double> ik_joints = getJoints(jmg, state);
  EXPECT_TRUE(jointsNear(ik_joints, default_joints, 4 * IK_SEED_OFFSET));
}
 
TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIKRobotStateWithTransformedSubframe)
{
  // Set up a default robot
  moveit::core::RobotState state(robot_model_);
  state.setToDefaultValues();
  const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
 
  std::vector<double> default_joints = getJoints(jmg, state);
  const moveit::core::LinkModel* tip_link = robot_model_->getLinkModel(tcp_link_);
  Eigen::Isometry3d tip_pose_in_base = state.getFrameTransform(tcp_link_);
 
  // Attach an object and subframe with non-trivial transforms
  Eigen::Isometry3d object_pose_in_tip;
  object_pose_in_tip = Eigen::Translation3d(1, 2, 3);
  object_pose_in_tip *= Eigen::AngleAxis(M_PI_2, Eigen::Vector3d::UnitX());
 
  Eigen::Isometry3d subframe_pose_in_object;
  subframe_pose_in_object = Eigen::Translation3d(4, 5, 6);
  subframe_pose_in_object *= Eigen::AngleAxis(M_PI_2, Eigen::Vector3d::UnitY());
 
  moveit::core::FixedTransformsMap subframes({ { "subframe", subframe_pose_in_object } });
  attachToLink(state, tip_link, "object", object_pose_in_tip, subframes);
 
  // The RobotState should be able to use a subframe pose to set the joints
  Eigen::Isometry3d subframe_pose_in_base = tip_pose_in_base * object_pose_in_tip * subframe_pose_in_object;
  bool success = state.setFromIK(jmg, subframe_pose_in_base, "object/subframe");
  EXPECT_TRUE(success);
 
  // Given the target pose is the default pose of the subframe, the joints should be unchanged
  std::vector<double> ik_joints = getJoints(jmg, state);
  EXPECT_TRUE(jointsNear(ik_joints, default_joints, 4 * IK_SEED_OFFSET));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testComputePoseIK)
{
  // robot state
  moveit::core::RobotState rstate(robot_model_);
 
  const std::string frame_id = robot_model_->getModelFrame();
  const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
 
  while (random_test_number_ > 0)
  {
    // sample random robot state
    rstate.setToRandomPositions(jmg, rng_);
 
    Eigen::Isometry3d pose_expect = rstate.getFrameTransform(tcp_link_);
 
    // copy the random state and set ik seed
    std::map<std::string, double> ik_seed, ik_expect;
    for (const auto& joint_name : robot_model_->getJointModelGroup(planning_group_)->getActiveJointModelNames())
    {
      ik_expect[joint_name] = rstate.getVariablePosition(joint_name);
      if (rstate.getVariablePosition(joint_name) > 0)
      {
        ik_seed[joint_name] = rstate.getVariablePosition(joint_name) - IK_SEED_OFFSET;
      }
      else
      {
        ik_seed[joint_name] = rstate.getVariablePosition(joint_name) + IK_SEED_OFFSET;
      }
    }
 
    // compute the ik
    std::map<std::string, double> ik_actual;
    EXPECT_TRUE(pilz_industrial_motion_planner::computePoseIK(planning_scene_, planning_group_, tcp_link_, pose_expect,
                                                              frame_id, ik_seed, ik_actual, false));
 
    // compare ik solution and expected value
    for (const auto& joint_pair : ik_actual)
    {
      EXPECT_NEAR(joint_pair.second, ik_expect.at(joint_pair.first), 4 * IK_SEED_OFFSET);
    }
 
    --random_test_number_;
  }
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testComputePoseIKInvalidGroupName)
{
  const std::string frame_id = robot_model_->getModelFrame();
  Eigen::Isometry3d pose_expect;
 
  std::map<std::string, double> ik_seed;
 
  // compute the ik
  std::map<std::string, double> ik_actual;
  EXPECT_FALSE(pilz_industrial_motion_planner::computePoseIK(planning_scene_, "InvalidGroupName", tcp_link_,
                                                             pose_expect, frame_id, ik_seed, ik_actual, false));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testComputePoseIKInvalidLinkName)
{
  const std::string frame_id = robot_model_->getModelFrame();
  Eigen::Isometry3d pose_expect;
 
  std::map<std::string, double> ik_seed;
 
  // compute the ik
  std::map<std::string, double> ik_actual;
  EXPECT_FALSE(pilz_industrial_motion_planner::computePoseIK(planning_scene_, planning_group_, "WrongLink", pose_expect,
                                                             frame_id, ik_seed, ik_actual, false));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testComputePoseIKInvalidFrameId)
{
  Eigen::Isometry3d pose_expect;
 
  std::map<std::string, double> ik_seed;
 
  // compute the ik
  std::map<std::string, double> ik_actual;
  EXPECT_FALSE(pilz_industrial_motion_planner::computePoseIK(planning_scene_, planning_group_, tcp_link_, pose_expect,
                                                             "InvalidFrameId", ik_seed, ik_actual, false));
}
 
// /**
//  * @brief Test if activated self collision for a pose that would be in self
//  * collision without the check results in a
//  * valid ik solution.
//  */
// TEST_F(TrajectoryFunctionsTestOnlyGripper, testComputePoseIKSelfCollisionForValidPosition)
// {
//   const std::string frame_id = robot_model_->getModelFrame();
//   const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
//
//   // create seed
//   std::vector<double> ik_seed_states = { -0.553, 0.956, 1.758, 0.146, -1.059, 1.247 };
//   auto joint_names = jmg->getActiveJointModelNames();
//
//   std::map<std::string, double> ik_seed;
//   for (unsigned int i = 0; i < ik_seed_states.size(); ++i)
//   {
//     ik_seed[joint_names[i]] = ik_seed_states[i];
//   }
//
//   // create expected pose
//   geometry_msgs::msg::Pose pose;
//   pose.position.x = -0.454;
//   pose.position.y = -0.15;
//   pose.position.z = 0.431;
//   pose.orientation.y = 0.991562;
//   pose.orientation.w = -0.1296328;
//   Eigen::Isometry3d pose_expect;
//   normalizeQuaternion(pose.orientation);
//   tf2::fromMsg(pose, pose_expect);
//
//   // compute the ik without self collision check and expect the resulting pose
//   // to be in self collision.
//   std::map<std::string, double> ik_actual1;
//   EXPECT_TRUE(pilz_industrial_motion_planner::computePoseIK(planning_scene_, planning_group_, tcp_link_, pose_expect,
//                                                             frame_id, ik_seed, ik_actual1, false));
//
//   moveit::core::RobotState rstate(robot_model_);
//   planning_scene::PlanningScene rscene(robot_model_);
//
//   std::vector<double> ik_state;
//   std::transform(ik_actual1.begin(), ik_actual1.end(), std::back_inserter(ik_state),
//                  [](const auto& pair) { return pair.second; });
//
//   rstate.setJointGroupPositions(jmg, ik_state);
//   rstate.update();
//
//   collision_detection::CollisionRequest collision_req;
//   collision_req.group_name = jmg->getName();
//   collision_detection::CollisionResult collision_res;
//
//   rscene.checkSelfCollision(collision_req, collision_res, rstate);
//
//   EXPECT_TRUE(collision_res.collision);
//
//   // compute the ik with collision detection activated and expect the resulting
//   // pose to be without self collision.
//   std::map<std::string, double> ik_actual2;
//   EXPECT_TRUE(pilz_industrial_motion_planner::computePoseIK(robot_model_, planning_group_, tcp_link_, pose_expect,
//                                                             frame_id, ik_seed, ik_actual2, true));
//
//   std::vector<double> ik_state2;
//   std::transform(ik_actual2.begin(), ik_actual2.end(), std::back_inserter(ik_state2),
//                  [](const auto& pair) { return pair.second; });
//   rstate.setJointGroupPositions(jmg, ik_state2);
//   rstate.update();
//
//   collision_detection::CollisionResult collision_res2;
//   rscene.checkSelfCollision(collision_req, collision_res2, rstate);
//
//   EXPECT_FALSE(collision_res2.collision);
// }

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testComputePoseIKSelfCollisionForInvalidPose)
{
  // robot state
  moveit::core::RobotState rstate(robot_model_);
 
  const std::string frame_id = robot_model_->getModelFrame();
  const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(planning_group_);
 
  // create seed
  std::map<std::string, double> ik_seed;
  for (const auto& joint_name : jmg->getActiveJointModelNames())
  {
    ik_seed[joint_name] = 0;
  }
 
  // create goal
  std::vector<double> ik_goal = { 0, 2.3, -2.3, 0, 0, 0 };
 
  rstate.setJointGroupPositions(jmg, ik_goal);
 
  Eigen::Isometry3d pose_expect = rstate.getFrameTransform(tcp_link_);
 
  // compute the ik with disabled collision check
  std::map<std::string, double> ik_actual;
  EXPECT_TRUE(pilz_industrial_motion_planner::computePoseIK(planning_scene_, planning_group_, tcp_link_, pose_expect,
                                                            frame_id, ik_seed, ik_actual, false));
 
  // compute the ik with enabled collision check
  EXPECT_FALSE(pilz_industrial_motion_planner::computePoseIK(planning_scene_, planning_group_, tcp_link_, pose_expect,
                                                             frame_id, ik_seed, ik_actual, true));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testVerifySampleJointLimitsWithSmallDuration)
{
  const std::map<std::string, double> position_last, velocity_last, position_current;
  double duration_last{ 0.0 };
  const pilz_industrial_motion_planner::JointLimitsContainer joint_limits;
 
  double duration_current = 10e-7;
 
  EXPECT_FALSE(pilz_industrial_motion_planner::verifySampleJointLimits(position_last, velocity_last, position_current,
                                                                       duration_last, duration_current, joint_limits));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testVerifySampleJointLimitsVelocityViolation)
{
  const std::string test_joint_name{ "joint" };
 
  std::map<std::string, double> position_last{ { test_joint_name, 2.0 } };
  std::map<std::string, double> position_current{ { test_joint_name, 10.0 } };
  std::map<std::string, double> velocity_last;
  double duration_current{ 1.0 };
  double duration_last{ 0.0 };
  pilz_industrial_motion_planner::JointLimitsContainer joint_limits;
 
  pilz_industrial_motion_planner::JointLimit test_joint_limits;
  // Calculate the max allowed velocity in such a way that it is always smaller
  // than the current velocity.
  test_joint_limits.max_velocity =
      ((position_current.at(test_joint_name) - position_last.at(test_joint_name)) / duration_current) - 1.0;
  test_joint_limits.has_velocity_limits = true;
  joint_limits.addLimit(test_joint_name, test_joint_limits);
 
  EXPECT_FALSE(pilz_industrial_motion_planner::verifySampleJointLimits(position_last, velocity_last, position_current,
                                                                       duration_last, duration_current, joint_limits));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testVerifySampleJointLimitsAccelerationViolation)
{
  const std::string test_joint_name{ "joint" };
 
  double duration_current = 1.0;
  double duration_last = 1.0;
 
  std::map<std::string, double> position_last{ { test_joint_name, 2.0 } };
  std::map<std::string, double> position_current{ { test_joint_name, 20.0 } };
  double velocity_current =
      ((position_current.at(test_joint_name) - position_last.at(test_joint_name)) / duration_current);
  std::map<std::string, double> velocity_last{ { test_joint_name, 9.0 } };
  pilz_industrial_motion_planner::JointLimitsContainer joint_limits;
 
  pilz_industrial_motion_planner::JointLimit test_joint_limits;
  // Calculate the max allowed velocity in such a way that it is always bigger
  // than the current velocity.
  test_joint_limits.max_velocity = velocity_current + 1.0;
  test_joint_limits.has_velocity_limits = true;
 
  double acceleration_current =
      (velocity_current - velocity_last.at(test_joint_name)) / (duration_last + duration_current) * 2;
  // Calculate the max allowed acceleration in such a way that it is always
  // smaller than the current acceleration.
  test_joint_limits.max_acceleration = acceleration_current - 1.0;
  test_joint_limits.has_acceleration_limits = true;
 
  joint_limits.addLimit(test_joint_name, test_joint_limits);
 
  EXPECT_FALSE(pilz_industrial_motion_planner::verifySampleJointLimits(position_last, velocity_last, position_current,
                                                                       duration_last, duration_current, joint_limits));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testVerifySampleJointLimitsDecelerationViolation)
{
  const std::string test_joint_name{ "joint" };
 
  double duration_current = 1.0;
  double duration_last = 1.0;
 
  std::map<std::string, double> position_last{ { test_joint_name, 20.0 } };
  std::map<std::string, double> position_current{ { test_joint_name, 2.0 } };
  double velocity_current =
      ((position_current.at(test_joint_name) - position_last.at(test_joint_name)) / duration_current);
  std::map<std::string, double> velocity_last{ { test_joint_name, 19.0 } };
  pilz_industrial_motion_planner::JointLimitsContainer joint_limits;
 
  pilz_industrial_motion_planner::JointLimit test_joint_limits;
  // Calculate the max allowed velocity in such a way that it is always bigger
  // than the current velocity.
  test_joint_limits.max_velocity = fabs(velocity_current) + 1.0;
  test_joint_limits.has_velocity_limits = true;
 
  double acceleration_current =
      (velocity_current - velocity_last.at(test_joint_name)) / (duration_last + duration_current) * 2;
  // Calculate the max allowed deceleration in such a way that it is always
  // bigger than the current acceleration.
  test_joint_limits.max_deceleration = acceleration_current + 1.0;
  test_joint_limits.has_deceleration_limits = true;
 
  joint_limits.addLimit(test_joint_name, test_joint_limits);
 
  EXPECT_FALSE(pilz_industrial_motion_planner::verifySampleJointLimits(position_last, velocity_last, position_current,
                                                                       duration_last, duration_current, joint_limits));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testGenerateJointTrajectoryWithInvalidCartesianTrajectory)
{
  // Create random test trajectory
  // Note: 'path' is deleted by KDL::Trajectory_Segment
  KDL::Path_RoundedComposite* path =
      new KDL::Path_RoundedComposite(0.2, 0.01, new KDL::RotationalInterpolation_SingleAxis());
  path->Add(KDL::Frame(KDL::Rotation::RPY(0, 0, 0), KDL::Vector(-1, 0, 0)));
  path->Finish();
  // Note: 'velprof' is deleted by KDL::Trajectory_Segment
  KDL::VelocityProfile* vel_prof = new KDL::VelocityProfile_Trap(0.5, 0.1);
  vel_prof->SetProfile(0, path->PathLength());
  KDL::Trajectory_Segment kdl_trajectory(path, vel_prof);
 
  pilz_industrial_motion_planner::JointLimitsContainer joint_limits;
  std::string group_name{ "invalid_group_name" };
  std::map<std::string, double> initial_joint_position;
  double sampling_time{ 0.1 };
  trajectory_msgs::msg::JointTrajectory joint_trajectory;
  moveit_msgs::msg::MoveItErrorCodes error_code;
  bool check_self_collision{ false };
 
  EXPECT_FALSE(pilz_industrial_motion_planner::generateJointTrajectory(
      planning_scene_, joint_limits, kdl_trajectory, group_name, tcp_link_, initial_joint_position, sampling_time,
      joint_trajectory, error_code, check_self_collision));
 
  std::map<std::string, double> initial_joint_velocity;
 
  pilz_industrial_motion_planner::CartesianTrajectory cart_traj;
  cart_traj.group_name = group_name;
  cart_traj.link_name = tcp_link_;
  pilz_industrial_motion_planner::CartesianTrajectoryPoint cart_traj_point;
  cart_traj.points.push_back(cart_traj_point);
 
  EXPECT_FALSE(pilz_industrial_motion_planner::generateJointTrajectory(
      planning_scene_, joint_limits, cart_traj, group_name, tcp_link_, initial_joint_position, initial_joint_velocity,
      joint_trajectory, error_code, check_self_collision));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testDetermineAndCheckSamplingTimeInvalidVectorSize)
{
  robot_trajectory::RobotTrajectoryPtr first_trajectory =
      std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, planning_group_);
  robot_trajectory::RobotTrajectoryPtr second_trajectory =
      std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, planning_group_);
  double epsilon{ 0.0 };
  double sampling_time{ 0.0 };
 
  moveit::core::RobotState rstate(robot_model_);
  first_trajectory->insertWayPoint(0, rstate, 0.1);
  second_trajectory->insertWayPoint(0, rstate, 0.1);
 
  EXPECT_FALSE(pilz_industrial_motion_planner::determineAndCheckSamplingTime(first_trajectory, second_trajectory,
                                                                             epsilon, sampling_time));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testDetermineAndCheckSamplingTimeCorrectSamplingTime)
{
  robot_trajectory::RobotTrajectoryPtr first_trajectory =
      std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, planning_group_);
  robot_trajectory::RobotTrajectoryPtr second_trajectory =
      std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, planning_group_);
  double epsilon{ 0.0001 };
  double sampling_time{ 0.0 };
  double expected_sampling_time{ 0.1 };
 
  moveit::core::RobotState rstate(robot_model_);
  first_trajectory->insertWayPoint(0, rstate, expected_sampling_time);
  first_trajectory->insertWayPoint(1, rstate, expected_sampling_time);
 
  second_trajectory->insertWayPoint(0, rstate, expected_sampling_time);
  second_trajectory->insertWayPoint(1, rstate, expected_sampling_time);
  second_trajectory->insertWayPoint(2, rstate, expected_sampling_time);
 
  EXPECT_TRUE(pilz_industrial_motion_planner::determineAndCheckSamplingTime(first_trajectory, second_trajectory,
                                                                            epsilon, sampling_time));
  EXPECT_EQ(expected_sampling_time, sampling_time);
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testDetermineAndCheckSamplingTimeViolateSamplingTime)
{
  robot_trajectory::RobotTrajectoryPtr first_trajectory =
      std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, planning_group_);
  robot_trajectory::RobotTrajectoryPtr second_trajectory =
      std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, planning_group_);
  double epsilon{ 0.0001 };
  double sampling_time{ 0.0 };
  double expected_sampling_time{ 0.1 };
 
  moveit::core::RobotState rstate(robot_model_);
  first_trajectory->insertWayPoint(0, rstate, expected_sampling_time);
  first_trajectory->insertWayPoint(1, rstate, expected_sampling_time);
  first_trajectory->insertWayPoint(2, rstate, expected_sampling_time);
  // Violate sampling time
  first_trajectory->insertWayPoint(2, rstate, expected_sampling_time + 1.0);
  first_trajectory->insertWayPoint(3, rstate, expected_sampling_time);
 
  second_trajectory->insertWayPoint(0, rstate, expected_sampling_time);
  second_trajectory->insertWayPoint(1, rstate, expected_sampling_time);
  second_trajectory->insertWayPoint(2, rstate, expected_sampling_time);
  second_trajectory->insertWayPoint(3, rstate, expected_sampling_time);
 
  EXPECT_FALSE(pilz_industrial_motion_planner::determineAndCheckSamplingTime(first_trajectory, second_trajectory,
                                                                             epsilon, sampling_time));
  EXPECT_EQ(expected_sampling_time, sampling_time);
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIsRobotStateEqualPositionUnequal)
{
  moveit::core::RobotState rstate_1 = moveit::core::RobotState(robot_model_);
  moveit::core::RobotState rstate_2 = moveit::core::RobotState(robot_model_);
 
  double default_joint_position[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
  rstate_1.setJointGroupPositions(planning_group_, default_joint_position);
  // Ensure that the joint positions of both robot states are different
  default_joint_position[0] = default_joint_position[0] + 70.0;
  rstate_2.setJointGroupPositions(planning_group_, default_joint_position);
 
  double epsilon{ 0.0001 };
  EXPECT_FALSE(pilz_industrial_motion_planner::isRobotStateEqual(rstate_1, rstate_2, planning_group_, epsilon));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIsRobotStateEqualVelocityUnequal)
{
  moveit::core::RobotState rstate_1 = moveit::core::RobotState(robot_model_);
  moveit::core::RobotState rstate_2 = moveit::core::RobotState(robot_model_);
 
  // Ensure that the joint positions of both robot state are equal
  double default_joint_position[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
  rstate_1.setJointGroupPositions(planning_group_, default_joint_position);
  rstate_2.setJointGroupPositions(planning_group_, default_joint_position);
 
  double default_joint_velocity[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
  rstate_1.setJointGroupVelocities(planning_group_, default_joint_velocity);
  // Ensure that the joint velocites of both robot states are different
  default_joint_velocity[1] = default_joint_velocity[1] + 10.0;
  rstate_2.setJointGroupVelocities(planning_group_, default_joint_velocity);
 
  double epsilon{ 0.0001 };
  EXPECT_FALSE(pilz_industrial_motion_planner::isRobotStateEqual(rstate_1, rstate_2, planning_group_, epsilon));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIsRobotStateEqualAccelerationUnequal)
{
  moveit::core::RobotState rstate_1 = moveit::core::RobotState(robot_model_);
  moveit::core::RobotState rstate_2 = moveit::core::RobotState(robot_model_);
 
  // Ensure that the joint positions of both robot state are equal
  double default_joint_position[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
  rstate_1.setJointGroupPositions(planning_group_, default_joint_position);
  rstate_2.setJointGroupPositions(planning_group_, default_joint_position);
 
  // Ensure that the joint velocities of both robot state are equal
  double default_joint_velocity[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
  rstate_1.setJointGroupVelocities(planning_group_, default_joint_velocity);
  rstate_2.setJointGroupVelocities(planning_group_, default_joint_velocity);
 
  double default_joint_acceleration[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
  rstate_1.setJointGroupAccelerations(planning_group_, default_joint_acceleration);
  // Ensure that the joint accelerations of both robot states are different
  default_joint_acceleration[1] = default_joint_acceleration[1] + 10.0;
  rstate_2.setJointGroupAccelerations(planning_group_, default_joint_acceleration);
 
  double epsilon{ 0.0001 };
  EXPECT_FALSE(pilz_industrial_motion_planner::isRobotStateEqual(rstate_1, rstate_2, planning_group_, epsilon));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIsRobotStateStationaryVelocityUnequal)
{
  moveit::core::RobotState rstate_1 = moveit::core::RobotState(robot_model_);
 
  // Ensure that the joint velocities are NOT zero
  double default_joint_velocity[6] = { 1.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
  rstate_1.setJointGroupVelocities(planning_group_, default_joint_velocity);
 
  double epsilon{ 0.0001 };
  EXPECT_FALSE(pilz_industrial_motion_planner::isRobotStateStationary(rstate_1, planning_group_, epsilon));
}

TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIsRobotStateStationaryAccelerationUnequal)
{
  moveit::core::RobotState rstate_1 = moveit::core::RobotState(robot_model_);
 
  // Ensure that the joint velocities are zero
  double default_joint_velocity[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
  rstate_1.setJointGroupVelocities(planning_group_, default_joint_velocity);
 
  // Ensure that the joint acceleration are NOT zero
  double default_joint_acceleration[6] = { 1.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
  rstate_1.setJointGroupAccelerations(planning_group_, default_joint_acceleration);
 
  double epsilon{ 0.0001 };
  EXPECT_FALSE(pilz_industrial_motion_planner::isRobotStateStationary(rstate_1, planning_group_, epsilon));
}
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}