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Add waypoint duration to the trajectory deep copy unit test #2961

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merged 3 commits into from
Nov 16, 2021
Merged

Add waypoint duration to the trajectory deep copy unit test #2961

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205c58f
Add waypoint duration to the trajectory deep copy test
AndyZe Nov 15, 2021
f6893ae
Slightly more accurate comments
AndyZe Nov 15, 2021
2d812e5
Check for a specific duration
AndyZe Nov 16, 2021
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14 changes: 12 additions & 2 deletions moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,14 @@ class RobotTrajectoryTestFixture : public testing::Test
std::vector<double> trajectory_first_state_after_update;
trajectory_first_waypoint_after_update->copyJointGroupPositions(arm_jmg_name_, trajectory_first_state_after_update);
EXPECT_EQ(trajectory_first_state[0], trajectory_first_state_after_update[0]);

// Modify the first waypoint duration
double trajectory_first_duration_before_update = trajectory->getWayPointDurationFromPrevious(0);
double new_duration = trajectory_first_duration_before_update + 0.1;
trajectory->setWayPointDurationFromPrevious(0, new_duration);

// Check that the trajectory's first duration was updated
EXPECT_EQ(trajectory->getWayPointDurationFromPrevious(0), new_duration);
}

void modifyFirstWaypointAndCheckTrajectory(robot_trajectory::RobotTrajectoryPtr& trajectory)
Expand Down Expand Up @@ -212,7 +220,7 @@ TEST_F(RobotTrajectoryTestFixture, RobotTrajectoryShallowCopy)
trajectory_copy_first_waypoint_after_update.copyJointGroupPositions(arm_jmg_name_,
trajectory_copy_first_state_after_update);

// Check that we updated the value correctly in the trajectory
// Check that we updated the joint position correctly in the trajectory
EXPECT_EQ(trajectory_first_state_after_update[0], trajectory_copy_first_state_after_update[0]);
}

Expand All @@ -238,8 +246,10 @@ TEST_F(RobotTrajectoryTestFixture, RobotTrajectoryDeepCopy)
trajectory_copy_first_waypoint_after_update.copyJointGroupPositions(arm_jmg_name_,
trajectory_copy_first_state_after_update);

// Check that we updated the value correctly in the trajectory
// Check that joint positions changed in the original trajectory but not the deep copy
EXPECT_NE(trajectory_first_state_after_update[0], trajectory_copy_first_state_after_update[0]);
// Check that the first waypoint duration changed in the original trajectory but not the deep copy
EXPECT_NE(trajectory->getWayPointDurationFromPrevious(0), trajectory_copy->getWayPointDurationFromPrevious(0));
}

int main(int argc, char** argv)
Expand Down