1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
|
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2015 Open Source Robotics Foundation, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Jackie Kay */
#include <iostream>
#include <vector>
#include <gtest/gtest.h>
#include <kdl/jntarray.hpp>
#include <kdl/chainidsolver_recursive_newton_euler.hpp>
#include <ros/ros.h>
#include <ros/console.h>
#include "kdl_parser/kdl_parser.hpp"
int g_argc;
char ** g_argv;
class TestInertiaRPY : public testing::Test
{
public:
protected:
/// constructor
TestInertiaRPY()
{
}
/// Destructor
~TestInertiaRPY()
{
}
};
TEST_F(TestInertiaRPY, test_torques) {
// workaround for segfault issue with parsing 2 trees instantiated on the stack
KDL::Tree * tree_1 = new KDL::Tree;
KDL::Tree * tree_2 = new KDL::Tree;
KDL::JntArray torques_1;
KDL::JntArray torques_2;
{
ASSERT_TRUE(kdl_parser::treeFromFile(g_argv[1], *tree_1));
KDL::Vector gravity(0, 0, -9.81);
KDL::Chain chain;
std::cout << "number of joints: " << tree_1->getNrOfJoints() << std::endl;
std::cout << "number of segments: " << tree_1->getNrOfSegments() << std::endl;
ASSERT_TRUE(tree_1->getChain("base_link", "link2", chain));
KDL::ChainIdSolver_RNE solver(chain, gravity);
KDL::JntArray q(chain.getNrOfJoints());
KDL::JntArray qdot(chain.getNrOfJoints());
KDL::JntArray qdotdot(chain.getNrOfJoints());
std::vector<KDL::Wrench> wrenches(chain.getNrOfJoints());
solver.CartToJnt(q, qdot, qdotdot, wrenches, torques_1);
delete tree_1;
tree_1 = NULL;
}
{
ASSERT_TRUE(kdl_parser::treeFromFile(g_argv[2], *tree_2));
KDL::Vector gravity(0, 0, -9.81);
KDL::Chain chain;
ASSERT_TRUE(tree_2->getChain("base_link", "link2", chain));
KDL::ChainIdSolver_RNE solver(chain, gravity);
KDL::JntArray q(chain.getNrOfJoints());
KDL::JntArray qdot(chain.getNrOfJoints());
KDL::JntArray qdotdot(chain.getNrOfJoints());
std::vector<KDL::Wrench> wrenches(chain.getNrOfJoints());
solver.CartToJnt(q, qdot, qdotdot, wrenches, torques_2);
delete tree_2;
tree_2 = NULL;
}
ASSERT_TRUE(torques_1 == torques_2);
SUCCEED();
}
int main(int argc, char ** argv)
{
testing::InitGoogleTest(&argc, argv);
ros::init(argc, argv, "test_kdl_parser");
for (size_t i = 0; i < argc; ++i) {
std::cout << argv[i] << std::endl;
}
g_argc = argc;
g_argv = argv;
return RUN_ALL_TESTS();
}
|
