Remove test_tolerances_utils

ros-controls · Jun 24, 2024 · 36ecdda · 36ecdda
1 parent 2bdc0c2
commit 36ecdda
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Showing 4 changed files with 38 additions and 61 deletions.
diff --git a/joint_trajectory_controller/test/test_tolerances.cpp b/joint_trajectory_controller/test/test_tolerances.cpp
@@ -20,12 +20,12 @@
 #include "gmock/gmock.h"
 #include "rclcpp/duration.hpp"
 #include "rclcpp/logger.hpp"
-
-#include "joint_trajectory_controller/tolerances.hpp"
-#include "test_tolerances_utils.hpp"
 #include "trajectory_msgs/msg/joint_trajectory.hpp"
 #include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 
+#include "joint_trajectory_controller/tolerances.hpp"
+#include "test_trajectory_controller_utils.hpp"
+
 using joint_trajectory_controller::SegmentTolerances;
 using trajectory_msgs::msg::JointTrajectoryPoint;
 

diff --git a/joint_trajectory_controller/test/test_tolerances_utils.hpp b/joint_trajectory_controller/test/test_tolerances_utils.hpp
diff --git a/joint_trajectory_controller/test/test_trajectory_actions.cpp b/joint_trajectory_controller/test/test_trajectory_actions.cpp
@@ -47,7 +47,6 @@
 #include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 
 #include "joint_trajectory_controller/joint_trajectory_controller.hpp"
-#include "test_tolerances_utils.hpp"
 #include "test_trajectory_controller_utils.hpp"
 
 using std::placeholders::_1;

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -25,6 +25,7 @@
 
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "joint_trajectory_controller/joint_trajectory_controller.hpp"
+#include "joint_trajectory_controller/tolerances.hpp"
 
 namespace
 {
@@ -38,6 +39,40 @@ const std::vector<double> INITIAL_VEL_JOINTS = {0.0, 0.0, 0.0};
 const std::vector<double> INITIAL_ACC_JOINTS = {0.0, 0.0, 0.0};
 const std::vector<double> INITIAL_EFF_JOINTS = {0.0, 0.0, 0.0};
 
+const double default_goal_time = 0.1;
+const double stopped_velocity_tolerance = 0.1;
+
+[[maybe_unused]] void expectDefaultTolerances(
+  joint_trajectory_controller::SegmentTolerances active_tolerances)
+{
+  // acceleration is never set, and goal_state_tolerance.velocity from stopped_velocity_tolerance
+
+  ASSERT_EQ(active_tolerances.state_tolerance.size(), 3);
+  EXPECT_DOUBLE_EQ(active_tolerances.state_tolerance.at(0).position, 0.1);
+  EXPECT_DOUBLE_EQ(active_tolerances.state_tolerance.at(0).velocity, 0.0);
+  EXPECT_DOUBLE_EQ(active_tolerances.state_tolerance.at(0).acceleration, 0.0);
+  EXPECT_DOUBLE_EQ(active_tolerances.state_tolerance.at(1).position, 0.1);
+  EXPECT_DOUBLE_EQ(active_tolerances.state_tolerance.at(1).velocity, 0.0);
+  EXPECT_DOUBLE_EQ(active_tolerances.state_tolerance.at(1).acceleration, 0.0);
+  EXPECT_DOUBLE_EQ(active_tolerances.state_tolerance.at(2).position, 0.1);
+  EXPECT_DOUBLE_EQ(active_tolerances.state_tolerance.at(2).velocity, 0.0);
+  EXPECT_DOUBLE_EQ(active_tolerances.state_tolerance.at(2).acceleration, 0.0);
+
+  ASSERT_EQ(active_tolerances.goal_state_tolerance.size(), 3);
+  EXPECT_DOUBLE_EQ(active_tolerances.goal_state_tolerance.at(0).position, 0.1);
+  EXPECT_DOUBLE_EQ(
+    active_tolerances.goal_state_tolerance.at(0).velocity, stopped_velocity_tolerance);
+  EXPECT_DOUBLE_EQ(active_tolerances.goal_state_tolerance.at(0).acceleration, 0.0);
+  EXPECT_DOUBLE_EQ(active_tolerances.goal_state_tolerance.at(1).position, 0.1);
+  EXPECT_DOUBLE_EQ(
+    active_tolerances.goal_state_tolerance.at(1).velocity, stopped_velocity_tolerance);
+  EXPECT_DOUBLE_EQ(active_tolerances.goal_state_tolerance.at(1).acceleration, 0.0);
+  EXPECT_DOUBLE_EQ(active_tolerances.goal_state_tolerance.at(2).position, 0.1);
+  EXPECT_DOUBLE_EQ(
+    active_tolerances.goal_state_tolerance.at(2).velocity, stopped_velocity_tolerance);
+  EXPECT_DOUBLE_EQ(active_tolerances.goal_state_tolerance.at(2).acceleration, 0.0);
+}
+
 bool is_same_sign_or_zero(double val1, double val2)
 {
   return val1 * val2 > 0.0 || (val1 == 0.0 && val2 == 0.0);