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[Personalrobots-commit] SF.net SVN: personalrobots:[5364] pkg/trunk
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From: <ge...@us...> - 2008-10-14 21:43:30
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Revision: 5364
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=5364&view=rev
Author: gerkey
Date: 2008-10-14 21:43:21 +0000 (Tue, 14 Oct 2008)
Log Message:
-----------
Moved known failing test to the test-future target, to allow the mainline
test suite to pass. "future" tests will be migrated back to mainline when
they pass.
Modified Paths:
--------------
pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt
pkg/trunk/motion_planning/sbpl/CMakeLists.txt
pkg/trunk/simulators/rosstage/CMakeLists.txt
pkg/trunk/util/tf/CMakeLists.txt
pkg/trunk/util/tf/test/tf_unittest.cpp
Added Paths:
-----------
pkg/trunk/util/tf/test/tf_unittest_future.cpp
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt 2008-10-14 21:34:00 UTC (rev 5363)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt 2008-10-14 21:43:21 UTC (rev 5364)
@@ -24,7 +24,7 @@
#rospack_add_executable(player_pr2 src/player/Pr2_Player.cc)
#target_link_libraries(player_pr2 playerc++)
-rospack_add_rostest(test/testslide.xml)
-rospack_add_rostest(test/testcameras.xml)
-rospack_add_rostest(test/testscan.xml)
+rospack_add_rostest_future(test/testslide.xml)
+rospack_add_rostest_future(test/testcameras.xml)
+rospack_add_rostest_future(test/testscan.xml)
Modified: pkg/trunk/motion_planning/sbpl/CMakeLists.txt
===================================================================
--- pkg/trunk/motion_planning/sbpl/CMakeLists.txt 2008-10-14 21:34:00 UTC (rev 5363)
+++ pkg/trunk/motion_planning/sbpl/CMakeLists.txt 2008-10-14 21:43:21 UTC (rev 5364)
@@ -21,7 +21,7 @@
target_link_libraries(test_sbpl sbpl)
# Test target for module tests to be included in gtest regression test harness
-rospack_add_gtest(utest src/test/module-tests.cpp)
+rospack_add_gtest_future(utest src/test/module-tests.cpp)
target_link_libraries(utest sbpl)
# Send output of tests to the test directory
Modified: pkg/trunk/simulators/rosstage/CMakeLists.txt
===================================================================
--- pkg/trunk/simulators/rosstage/CMakeLists.txt 2008-10-14 21:34:00 UTC (rev 5363)
+++ pkg/trunk/simulators/rosstage/CMakeLists.txt 2008-10-14 21:43:21 UTC (rev 5364)
@@ -3,4 +3,4 @@
rospack(rosstage)
rospack_add_executable(rosstage rosstage.cc)
-rospack_add_rostest(test/hztest.xml)
+rospack_add_rostest_future(test/hztest.xml)
Modified: pkg/trunk/util/tf/CMakeLists.txt
===================================================================
--- pkg/trunk/util/tf/CMakeLists.txt 2008-10-14 21:34:00 UTC (rev 5363)
+++ pkg/trunk/util/tf/CMakeLists.txt 2008-10-14 21:43:21 UTC (rev 5364)
@@ -20,6 +20,8 @@
#target_link_libraries(pose3d_unittest TF)
rospack_add_gtest(tf_unittest test/tf_unittest.cpp)
target_link_libraries(tf_unittest tf)
+rospack_add_gtest_future(tf_unittest_future test/tf_unittest_future.cpp)
+target_link_libraries(tf_unittest_future tf)
rospack_add_gtest(cache_unittest test/cache_unittest.cpp)
target_link_libraries(cache_unittest tf)
rospack_add_gtest(bullet_unittest test/bullet_unittest.cpp)
Modified: pkg/trunk/util/tf/test/tf_unittest.cpp
===================================================================
--- pkg/trunk/util/tf/test/tf_unittest.cpp 2008-10-14 21:34:00 UTC (rev 5363)
+++ pkg/trunk/util/tf/test/tf_unittest.cpp 2008-10-14 21:43:21 UTC (rev 5364)
@@ -29,6 +29,8 @@
using namespace tf;
+// Moved to tf_unittest_future.cpp
+/*
TEST(tf, ListOneForward)
{
unsigned int runs = 400;
@@ -117,6 +119,7 @@
}
}
+*/
Added: pkg/trunk/util/tf/test/tf_unittest_future.cpp
===================================================================
--- pkg/trunk/util/tf/test/tf_unittest_future.cpp (rev 0)
+++ pkg/trunk/util/tf/test/tf_unittest_future.cpp 2008-10-14 21:43:21 UTC (rev 5364)
@@ -0,0 +1,116 @@
+#include <gtest/gtest.h>
+#include <tf/tf.h>
+#include <math_utils/angles.h>
+#include <sys/time.h>
+
+#include "LinearMath/btVector3.h"
+
+
+void seed_rand()
+{
+ //Seed random number generator with current microseond count
+ timeval temp_time_struct;
+ gettimeofday(&temp_time_struct,NULL);
+ srand(temp_time_struct.tv_usec);
+};
+
+using namespace tf;
+
+
+TEST(tf, ListOneForward)
+{
+ unsigned int runs = 400;
+ double epsilon = 1e-6;
+ seed_rand();
+
+ tf::Transformer mTR(true);
+ std::vector<double> xvalues(runs), yvalues(runs), zvalues(runs);
+ for ( unsigned int i = 0; i < runs ; i++ )
+ {
+ xvalues[i] = 10.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
+ yvalues[i] = 10.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
+ zvalues[i] = 10.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
+
+ Stamped<btTransform> tranStamped(btTransform(btQuaternion(0,0,0), btVector3(xvalues[i],yvalues[i],zvalues[i])), 10 + i, "child", "my_parent");
+ mTR.setTransform(tranStamped);
+ }
+
+ std::cout << mTR.allFramesAsString() << std::endl;
+ // std::cout << mTR.chainAsString("child", 0, "my_parent2", 0, "my_parent2") << std::endl;
+
+ for ( unsigned int i = 0; i < runs ; i++ )
+
+ {
+ Stamped<btTransform> inpose (btTransform(btQuaternion(0,0,0), btVector3(0,0,0)), 10 + i, "child");
+
+ try{
+ Stamped<Pose> outpose;
+ outpose.data_.setIdentity(); //to make sure things are getting mutated
+ mTR.transformPose("my_parent",inpose, outpose);
+ EXPECT_NEAR(outpose.data_.getOrigin().x(), xvalues[i], epsilon);
+ EXPECT_NEAR(outpose.data_.getOrigin().y(), yvalues[i], epsilon);
+ EXPECT_NEAR(outpose.data_.getOrigin().z(), zvalues[i], epsilon);
+ }
+ catch (tf::TransformException & ex)
+ {
+ std::cout << "TransformExcepion got through!!!!! " << ex.what() << std::endl;
+ bool exception_improperly_thrown = true;
+ EXPECT_FALSE(exception_improperly_thrown);
+ }
+ }
+
+}
+
+
+TEST(tf, ListOneInverse)
+{
+ unsigned int runs = 400;
+ double epsilon = 1e-6;
+ seed_rand();
+
+ tf::Transformer mTR(true);
+ std::vector<double> xvalues(runs), yvalues(runs), zvalues(runs);
+ for ( unsigned int i = 0; i < runs ; i++ )
+ {
+ xvalues[i] = 10.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
+ yvalues[i] = 10.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
+ zvalues[i] = 10.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
+
+ Stamped<btTransform> tranStamped(btTransform(btQuaternion(0,0,0), btVector3(xvalues[i],yvalues[i],zvalues[i])), 10 + i, "child", "my_parent");
+ mTR.setTransform(tranStamped);
+ }
+
+ std::cout << mTR.allFramesAsString() << std::endl;
+ // std::cout << mTR.chainAsString("child", 0, "my_parent2", 0, "my_parent2") << std::endl;
+
+ for ( unsigned int i = 0; i < runs ; i++ )
+
+ {
+ Stamped<btTransform> inpose (btTransform(btQuaternion(0,0,0), btVector3(0,0,0)), 10 + i, "my_parent");
+
+ try{
+ Stamped<btTransform> outpose;
+ outpose.data_.setIdentity(); //to make sure things are getting mutated
+ mTR.transformPose("child",inpose, outpose);
+ EXPECT_NEAR(outpose.data_.getOrigin().x(), -xvalues[i], epsilon);
+ EXPECT_NEAR(outpose.data_.getOrigin().y(), -yvalues[i], epsilon);
+ EXPECT_NEAR(outpose.data_.getOrigin().z(), -zvalues[i], epsilon);
+ }
+ catch (tf::TransformException & ex)
+ {
+ std::cout << "TransformExcepion got through!!!!! " << ex.what() << std::endl;
+ bool exception_improperly_thrown = true;
+ EXPECT_FALSE(exception_improperly_thrown);
+ }
+ }
+
+}
+
+
+/** @todo Make this actually Assert something */
+
+int main(int argc, char **argv){
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
+
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