unittest_trajectory_generator.cpp

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#include <memory>
 
#include <gtest/gtest.h>
 
#include <pilz_industrial_motion_planner/trajectory_generator.h>
 
using namespace pilz_industrial_motion_planner;
 
TEST(TrajectoryGeneratorTest, TestExceptionErrorCodeMapping)
{
  {
    auto tgil_ex = std::make_shared<TrajectoryGeneratorInvalidLimitsException>("");
    EXPECT_EQ(tgil_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::FAILURE);
  }
 
  {
    auto vsi_ex = std::make_shared<VelocityScalingIncorrect>("");
    EXPECT_EQ(vsi_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
  }
 
  {
    auto asi_ex = std::make_shared<AccelerationScalingIncorrect>("");
    EXPECT_EQ(asi_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
  }
 
  {
    auto upg_ex = std::make_shared<UnknownPlanningGroup>("");
    EXPECT_EQ(upg_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_GROUP_NAME);
  }
 
  {
    auto njniss_ex = std::make_shared<NoJointNamesInStartState>("");
    EXPECT_EQ(njniss_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
  }
 
  {
    auto smiss_ex = std::make_shared<SizeMismatchInStartState>("");
    EXPECT_EQ(smiss_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
  }
 
  {
    auto jofssoor_ex = std::make_shared<JointsOfStartStateOutOfRange>("");
    EXPECT_EQ(jofssoor_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
  }
 
  {
    auto nzviss_ex = std::make_shared<NonZeroVelocityInStartState>("");
    EXPECT_EQ(nzviss_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
  }
 
  {
    auto neogcg_ex = std::make_shared<NotExactlyOneGoalConstraintGiven>("");
    EXPECT_EQ(neogcg_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
  }
 
  {
    auto oogta_ex = std::make_shared<OnlyOneGoalTypeAllowed>("");
    EXPECT_EQ(oogta_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
  }
 
  {
    auto ssgsm_ex = std::make_shared<StartStateGoalStateMismatch>("");
    EXPECT_EQ(ssgsm_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
  }
 
  {
    auto jcdnbtg_ex = std::make_shared<JointConstraintDoesNotBelongToGroup>("");
    EXPECT_EQ(jcdnbtg_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
  }
 
  {
    auto jogoor_ex = std::make_shared<JointsOfGoalOutOfRange>("");
    EXPECT_EQ(jogoor_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
  }
 
  {
    auto pcnm_ex = std::make_shared<PositionConstraintNameMissing>("");
    EXPECT_EQ(pcnm_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
  }
 
  {
    auto ocnm_ex = std::make_shared<OrientationConstraintNameMissing>("");
    EXPECT_EQ(ocnm_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
  }
 
  {
    auto pocnm_ex = std::make_shared<PositionOrientationConstraintNameMismatch>("");
    EXPECT_EQ(pocnm_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
  }
 
  {
    auto nisa_ex = std::make_shared<NoIKSolverAvailable>("");
    EXPECT_EQ(nisa_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION);
  }
 
  {
    auto nppg_ex = std::make_shared<NoPrimitivePoseGiven>("");
    EXPECT_EQ(nppg_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
  }
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}