unittest_velocity_profile_atrap.cpp File Reference

#include <gtest/gtest.h>
#include <pilz_industrial_motion_planner/velocity_profile_atrap.h>

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Macros
#define	EPSILON   1.0e-10

Functions
	TEST (ATrapTest, Test_SetProfile1)
	TEST (ATrapTest, Test_SetProfile2)
	TEST (ATrapTest, Test_SetProfile3)
	TEST (ATrapTest, Test_SetProfile4)
	TEST (ATrapTest, Test_SetProfileToLowDuration)
	Test Description.
	TEST (ATrapTest, Test_setProfileAllDurationsToLowDuration)
	Define Profile with setProfileAllDurations with to low duration.
	TEST (ATrapTest, Test_SetProfileZeroStartVelocity)
	Define Profile with setProfileStartVelocity with zero velocity.
	TEST (ATrapTest, Test_SetProfileDuration)
	TEST (ATrapTest, Test_setProfileAllDurations1)
	TEST (ATrapTest, Test_setProfileAllDurations2)
	TEST (ATrapTest, Test_setProfileStartVelocity1)
	TEST (ATrapTest, Test_setProfileStartVelocity2)
	TEST (ATrapTest, Test_setProfileStartVelocity3)
	TEST (ATrapTest, Test_setProfileStartVelocity4)
	TEST (ATrapTest, Test_setProfileStartVelocity5)
	TEST (ATrapTest, Test_setProfileStartVelocity6)
	TEST (ATrapTest, Test_Clone)
	Check that the clone function returns a equal profile.
int	main (int argc, char **argv)

Macro Definition Documentation

EPSILON

#define EPSILON   1.0e-10

Definition at line 40 of file unittest_velocity_profile_atrap.cpp.

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 627 of file unittest_velocity_profile_atrap.cpp.

TEST() [1/17]

TEST	(	ATrapTest	,
		Test_Clone
	)

Check that the clone function returns a equal profile.

Note: Definitions other than setProfileAllDurations could fail due to numeric noise

Definition at line 616 of file unittest_velocity_profile_atrap.cpp.

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TEST() [2/17]

TEST	(	ATrapTest	,
		Test_SetProfile1
	)

Definition at line 42 of file unittest_velocity_profile_atrap.cpp.

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TEST() [3/17]

TEST	(	ATrapTest	,
		Test_SetProfile2
	)

Definition at line 89 of file unittest_velocity_profile_atrap.cpp.

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TEST() [4/17]

TEST	(	ATrapTest	,
		Test_SetProfile3
	)

Definition at line 128 of file unittest_velocity_profile_atrap.cpp.

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TEST() [5/17]

TEST	(	ATrapTest	,
		Test_SetProfile4
	)

Definition at line 163 of file unittest_velocity_profile_atrap.cpp.

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TEST() [6/17]

TEST	(	ATrapTest	,
		Test_setProfileAllDurations1
	)

Definition at line 308 of file unittest_velocity_profile_atrap.cpp.

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TEST() [7/17]

TEST	(	ATrapTest	,
		Test_setProfileAllDurations2
	)

Definition at line 355 of file unittest_velocity_profile_atrap.cpp.

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TEST() [8/17]

TEST	(	ATrapTest	,
		Test_setProfileAllDurationsToLowDuration
	)

Define Profile with setProfileAllDurations with to low duration.

Test Sequence:

1. Define a profile with SetProfile(double, double), this will yield the fastest duration
2. Try to define a profile with setProfileAllDurations with a faster combination of durations

Expected Results: 1.

1. Both trajectories should be equal

Definition at line 223 of file unittest_velocity_profile_atrap.cpp.

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TEST() [9/17]

TEST	(	ATrapTest	,
		Test_SetProfileDuration
	)

Definition at line 261 of file unittest_velocity_profile_atrap.cpp.

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TEST() [10/17]

TEST	(	ATrapTest	,
		Test_setProfileStartVelocity1
	)

Definition at line 368 of file unittest_velocity_profile_atrap.cpp.

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TEST() [11/17]

TEST	(	ATrapTest	,
		Test_setProfileStartVelocity2
	)

Definition at line 405 of file unittest_velocity_profile_atrap.cpp.

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TEST() [12/17]

TEST	(	ATrapTest	,
		Test_setProfileStartVelocity3
	)

Definition at line 454 of file unittest_velocity_profile_atrap.cpp.

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TEST	(	ATrapTest	,
		Test_setProfileStartVelocity4
	)

Definition at line 495 of file unittest_velocity_profile_atrap.cpp.

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TEST() [14/17]

TEST	(	ATrapTest	,
		Test_setProfileStartVelocity5
	)

Definition at line 536 of file unittest_velocity_profile_atrap.cpp.

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TEST() [15/17]

TEST	(	ATrapTest	,
		Test_setProfileStartVelocity6
	)

Definition at line 581 of file unittest_velocity_profile_atrap.cpp.

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TEST() [16/17]

TEST	(	ATrapTest	,
		Test_SetProfileToLowDuration
	)

Test Description.

Test Sequence:

1. Generate two profiles with same specifica
2. Set double EPSILON as duration of the first
3. Set the resulting duration as the duration of the second trajectory

Expected Results:

1. -
2. -
3. Both profiles should be the same (checked with testpoints in the middle of each phase

Definition at line 196 of file unittest_velocity_profile_atrap.cpp.

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TEST() [17/17]

TEST	(	ATrapTest	,
		Test_SetProfileZeroStartVelocity
	)

Define Profile with setProfileStartVelocity with zero velocity.

Test Sequence:

1. Define a profile with SetProfile(double, double)
2. Try to define a profile with setProfileStartVelocity with zero velocity

Expected Results: 1.

1. Both trajectories should be equal

Definition at line 249 of file unittest_velocity_profile_atrap.cpp.

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