From 2418b4b4bf600426239360fac18291bb6e9c19dc Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 24 Apr 2020 14:12:17 +0200
Subject: [PATCH] [Test] Add a test on graph initialization.
---
tests/test-constraintgraph.cc | 39 +++++++++++++++++++++++++++++++++--
1 file changed, 37 insertions(+), 2 deletions(-)
diff --git a/tests/test-constraintgraph.cc b/tests/test-constraintgraph.cc
index f7d39f90..6de25dd7 100644
--- a/tests/test-constraintgraph.cc
+++ b/tests/test-constraintgraph.cc
@@ -21,6 +21,7 @@
#include <hpp/core/path-validation-report.hh>
#include <hpp/constraints/generic-transformation.hh>
+#include <hpp/constraints/locked-joint.hh>
#include <hpp/constraints/relative-com.hh>
#include <hpp/manipulation/constraint-set.hh>
@@ -68,12 +69,17 @@ namespace hpp_test {
void initialize (bool ur5)
{
+ components.clear();
robot = hpp::manipulation::Device::create ("test-robot");
hpp::manipulation::ProblemPtr_t problem(hpp::manipulation::Problem::create
(robot));
if (ur5) {
- hpp::pinocchio::urdf::loadUrdfModel (robot, "anchor", "ur_description",
- "ur5_joint_limited_robot");
+ hpp::pinocchio::urdf::loadModel
+ (robot, 0, "ur5/", "anchor",
+ "package://example-robot-data/robots/ur_description/urdf/"
+ "ur5_joint_limited_robot.urdf",
+ "package://example-robot-data/robots/ur_description/srdf/"
+ "ur5_joint_limited_robot.srdf");
}
SteeringMethodPtr_t sm
(hpp::manipulation::steeringMethod::Graph::create (*problem));
@@ -129,3 +135,32 @@ BOOST_AUTO_TEST_CASE (GraphStructure)
BOOST_CHECK (node == n1);
}
+BOOST_AUTO_TEST_CASE (Initialization)
+{
+ using namespace hpp_test;
+ using hpp_test::graph_;
+ using hpp::pinocchio::LiegroupElement;
+ using hpp::pinocchio::LiegroupSpace;
+ using hpp::constraints::LockedJoint;
+ using hpp::manipulation::graph::Edge;
+ using hpp::manipulation::graph::EdgePtr_t;
+
+ initialize(true);
+ hpp::manipulation::DevicePtr_t robot(graph_->robot());
+ graph_->addNumericalConstraint(LockedJoint::create
+ (robot->jointAt(1), LiegroupElement(LiegroupSpace::R1())));
+ for (std::size_t i=0; i < components.size(); ++i)
+ {
+ EdgePtr_t edge(HPP_DYNAMIC_PTR_CAST(Edge, components[i]));
+ if (edge) {
+ try {
+ edge->targetConstraint();
+ BOOST_CHECK(false && "should have thrown.");
+ } catch (const std::logic_error& exc) {
+ std::string msg(exc.what());
+ BOOST_CHECK(msg == std::string
+ ("The graph should have been initialized first."));
+ }
+ }
+ }
+}
--
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