TransitionTests.cpp
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1#define BOOST_TEST_MODULE ArmarX::RobotTrajectoryDesigner::Transition
2#define ARMARX_BOOST_TEST
3
4#include "../../../../../build/testing/RobotTrajectoryDesigner/Test.h"
5#include "../Transition.h"
6#include "../Util/OrientationConversion.h"
7
8using namespace armarx;
9
10BOOST_AUTO_TEST_CASE(basicTest)
11{
12 //Init
13 Vector3BasePtr pos1 = Vector3BasePtr(new Vector3(1, 2, 3));
14 QuaternionBasePtr ori1 = OrientationConversion::toQuaternion(1, 2, 3);
15 PoseBasePtr pose1 = PoseBasePtr(new Pose(pos1, ori1));
16
17 Vector3BasePtr pos2 = Vector3BasePtr(new Vector3(4, 5, 6));
18 QuaternionBasePtr ori2 = OrientationConversion::toQuaternion(4, 5, 6);
19 PoseBasePtr pose2 = PoseBasePtr(new Pose(pos2, ori2));
20
21 UserWaypointPtr w1 = UserWaypointPtr(new UserWaypoint(pose1));
22 UserWaypointPtr w2 = UserWaypointPtr(new UserWaypoint(pose2));
23
24
25 //Consturctor test
26 Transition t1 = Transition(w1, w2);
27 BOOST_CHECK_EQUAL(t1.getStart(), w1);
28 BOOST_CHECK_EQUAL(t1.getEnd(), w2);
29 BOOST_CHECK_EQUAL(t1.getInterpolationType(), eLinearInterpolation);
30 BOOST_CHECK_EQUAL(t1.getTimeOptimalDuration(), 0);
31 BOOST_CHECK_EQUAL(t1.getUserDuration(), 0);
32
33 //check user/timeOptimal duration
34 t1.setUserDuration(5);
35 BOOST_CHECK_EQUAL(t1.getUserDuration(), 5);
36 t1.setTimeOptimalDuration(10);
37 BOOST_CHECK_EQUAL(t1.getTimeOptimalDuration(), 10);
38 BOOST_CHECK_EQUAL(t1.getUserDuration(), 10);
39 //UserDuration lower Than timeOptimal
40 BOOST_CHECK_THROW(t1.setUserDuration(5), InvalidArgumentException);
41
42 //wrong usage
43 BOOST_CHECK_THROW(t1.setUserDuration(-1), InvalidArgumentException);
44 BOOST_CHECK_THROW(t1.setTimeOptimalDuration(-1), InvalidArgumentException);
45}
46
47BOOST_AUTO_TEST_CASE(deepCopyTest)
48{
49 //Init
50 Vector3BasePtr pos1 = Vector3BasePtr(new Vector3(1, 2, 3));
51 QuaternionBasePtr ori1 = OrientationConversion::toQuaternion(1, 2, 3);
52 PoseBasePtr pose1 = PoseBasePtr(new Pose(pos1, ori1));
53
54 Vector3BasePtr pos2 = Vector3BasePtr(new Vector3(4, 5, 6));
55 QuaternionBasePtr ori2 = OrientationConversion::toQuaternion(4, 5, 6);
56 PoseBasePtr pose2 = PoseBasePtr(new Pose(pos2, ori2));
57
58 UserWaypointPtr w1 = UserWaypointPtr(new UserWaypoint(pose1));
59 UserWaypointPtr w2 = UserWaypointPtr(new UserWaypoint(pose2));
60
61 Vector3BasePtr pos3 = Vector3BasePtr(new Vector3(7, 8, 9));
62 QuaternionBasePtr ori3 = OrientationConversion::toQuaternion(7, 8, 9);
63 PoseBasePtr pose3 = PoseBasePtr(new Pose(pos3, ori3));
64
65 Vector3BasePtr pos4 = Vector3BasePtr(new Vector3(10, 11, 12));
66 QuaternionBasePtr ori4 = OrientationConversion::toQuaternion(10, 11, 12);
67 PoseBasePtr pose4 = PoseBasePtr(new Pose(pos4, ori4));
68
69 UserWaypointPtr w3 = UserWaypointPtr(new UserWaypoint(pose3));
70 UserWaypointPtr w4 = UserWaypointPtr(new UserWaypoint(pose4));
71
72
73 Transition t1 = Transition(w1, w2);
74 t1.setTimeOptimalDuration(10);
75 t1.setUserDuration(20);
76
77 t1.getStart()->setTimeOptimalTimestamp(1);
78 t1.getStart()->setUserTimestamp(2);
79 t1.getEnd()->setTimeOptimalTimestamp(10);
80 t1.getEnd()->setUserTimestamp(20);
81 Transition t2 = Transition(t1);
82
83
84 BOOST_CHECK_EQUAL(t2.getTimeOptimalDuration(), 10);
85 BOOST_CHECK_EQUAL(t2.getUserDuration(), 20);
86 BOOST_CHECK_EQUAL(t2.getStart()->getUserTimestamp(), 2);
87 BOOST_CHECK_EQUAL(t2.getStart()->getTimeOptimalTimestamp(), 1);
88 BOOST_CHECK_EQUAL(t2.getEnd()->getUserTimestamp(), 20);
89 BOOST_CHECK_EQUAL(t2.getEnd()->getTimeOptimalTimestamp(), 10);
90
91
92 t1.setTimeOptimalDuration(30);
93 t1.setUserDuration(40);
94 t1.getStart()->setTimeOptimalTimestamp(3);
95 t1.getStart()->setUserTimestamp(4);
96 t1.getEnd()->setTimeOptimalTimestamp(30);
97 t1.getEnd()->setUserTimestamp(40);
98
99 BOOST_CHECK_EQUAL(t2.getTimeOptimalDuration(), 10);
100 BOOST_CHECK_EQUAL(t2.getUserDuration(), 20);
101 BOOST_CHECK_EQUAL(t2.getStart()->getUserTimestamp(), 2);
102 BOOST_CHECK_EQUAL(t2.getStart()->getTimeOptimalTimestamp(), 1);
103 BOOST_CHECK_EQUAL(t2.getEnd()->getUserTimestamp(), 20);
104 BOOST_CHECK_EQUAL(t2.getEnd()->getTimeOptimalTimestamp(), 10);
105
106
107 BOOST_CHECK_EQUAL(t1.getTimeOptimalDuration(), 30);
108 BOOST_CHECK_EQUAL(t1.getUserDuration(), 40);
109 BOOST_CHECK_EQUAL(t1.getStart()->getUserTimestamp(), 4);
110 BOOST_CHECK_EQUAL(t1.getStart()->getTimeOptimalTimestamp(), 3);
111 BOOST_CHECK_EQUAL(t1.getEnd()->getUserTimestamp(), 40);
112 BOOST_CHECK_EQUAL(t1.getEnd()->getTimeOptimalTimestamp(), 30);
113}
BOOST_AUTO_TEST_CASE
BOOST_AUTO_TEST_CASE(basicTest)
Definition TransitionTests.cpp:10
armarx::OrientationConversion::toQuaternion
static QuaternionBasePtr toQuaternion(const double roll, const double pitch, const double yaw)
Definition OrientationConversion.cpp:58
armarx::Pose
The Pose class.
Definition Pose.h:243
armarx::Transition::getStart
UserWaypointPtr getStart()
Returns the start UserWaypoint of the transition.
Definition Transition.cpp:83
armarx::Transition::getTimeOptimalDuration
double getTimeOptimalDuration() const
Returns the time optimal duration calculated by TrajectoryCalculation.
Definition Transition.cpp:34
armarx::Transition::setUserDuration
void setUserDuration(double value)
Set the user duration of the transition and tests if it is greater than the time optimal duration.
Definition Transition.cpp:12
armarx::Transition::getUserDuration
double getUserDuration() const
Returns the user duration of the transition.
Definition Transition.cpp:6
armarx::Transition::getInterpolationType
InterpolationType getInterpolationType() const
Returns the interpolation type of the transition.
Definition Transition.cpp:59
armarx::Transition::getEnd
UserWaypointPtr getEnd()
Returns the end UserWaypoint of the transition.
Definition Transition.cpp:102
armarx::Transition::setTimeOptimalDuration
void setTimeOptimalDuration(double value)
set the time optimal duration and set the userDuration if its less than time optimal duration
Definition Transition.cpp:40
armarx::UserWaypoint
The UserWaypoint class represents a waypoint of the trajectory.
Definition UserWaypoint.h:48
armarx::Vector3
The Vector3 class.
Definition Pose.h:113
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition ArmarXTimeserver.cpp:28
armarx::UserWaypointPtr
std::shared_ptr< UserWaypoint > UserWaypointPtr
Definition UserWaypoint.h:142