From ba1c0e9019dc08bc76b65c51b9ebd7abbe58dfa3 Mon Sep 17 00:00:00 2001 From: Azielh Date: Wed, 16 Nov 2022 23:03:26 +0700 Subject: [PATCH 1/4] feat: add get_angle test --- test/kinematic_test.cpp | 36 ++++++++++++++++++++++++++++++++++++ test/kinematic_test.hpp | 26 ++++++++++++++++++++++++++ 2 files changed, 62 insertions(+) create mode 100644 test/kinematic_test.cpp create mode 100644 test/kinematic_test.hpp diff --git a/test/kinematic_test.cpp b/test/kinematic_test.cpp new file mode 100644 index 0000000..e167c61 --- /dev/null +++ b/test/kinematic_test.cpp @@ -0,0 +1,36 @@ +// Copyright (c) 2021 ICHIRO ITS +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +// THE SOFTWARE. + +#include "gtest/gtest.h" + +#include "kinematic_test.hpp" + +namespace ar = aruku; + +TEST(InitPositionTest, GetAngles) +{ + float max_error = 0.5; + + float current_angles[20] = ar::Kinematic::get_angles(); + + for (int i = 0; i < 20; i++) { + EXPECT_NEAR(0.0, current_angles[i], max_error); + } +} diff --git a/test/kinematic_test.hpp b/test/kinematic_test.hpp new file mode 100644 index 0000000..d72268f --- /dev/null +++ b/test/kinematic_test.hpp @@ -0,0 +1,26 @@ +// Copyright (c) 2021 ICHIRO ITS +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +// THE SOFTWARE. + +#ifndef KINEMATIC_TEST_HPP_ +#define KINEMATIC_TEST_HPP_ + +#include "aruku/walking/process/kinematic.hpp" + +#endif // KINEMATIC_TEST_HPP_ From 316cdaeb1c963f51b06fd8c7b558b5148d8045cf Mon Sep 17 00:00:00 2001 From: Azielh Date: Wed, 16 Nov 2022 23:18:20 +0700 Subject: [PATCH 2/4] feat: add stop_kinematic test --- test/kinematic_test.cpp | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/test/kinematic_test.cpp b/test/kinematic_test.cpp index e167c61..48464df 100644 --- a/test/kinematic_test.cpp +++ b/test/kinematic_test.cpp @@ -24,7 +24,7 @@ namespace ar = aruku; -TEST(InitPositionTest, GetAngles) +TEST(KinematicTest, get_angles) { float max_error = 0.5; @@ -34,3 +34,11 @@ TEST(InitPositionTest, GetAngles) EXPECT_NEAR(0.0, current_angles[i], max_error); } } + +TEST(KinematicTest, stop_kinematic) +{ + ar::Kinematic::stop_kinematic(); + ASSERT_EQ(ar::Kinematic::get_running_state(), false); + ASSERT_EQ(ar::Kinematic::get_x_move_amplitude(), 0.0); + ASSERT_EQ(ar::Kinematic::get_y_move_amplitude(), 0.0); +} From 8256b7455d5d413dd41d961ac2cad54758b57367 Mon Sep 17 00:00:00 2001 From: Aziel Godwin Hutajulu Date: Thu, 17 Nov 2022 21:03:21 +0700 Subject: [PATCH 3/4] feat: add stop, run, set_move_amplitude test --- test/kinematic_test.cpp | 25 +++++++++++++++++++++++++ 1 file changed, 25 insertions(+) diff --git a/test/kinematic_test.cpp b/test/kinematic_test.cpp index 48464df..eabcec4 100644 --- a/test/kinematic_test.cpp +++ b/test/kinematic_test.cpp @@ -42,3 +42,28 @@ TEST(KinematicTest, stop_kinematic) ASSERT_EQ(ar::Kinematic::get_x_move_amplitude(), 0.0); ASSERT_EQ(ar::Kinematic::get_y_move_amplitude(), 0.0); } + +TEST(KinematicTest, set_move_amplitude) +{ + ar::Kinematic::set_move_amplitude(5.0, 4.0, 3.0, true) + ASSERT_EQ(ar::Kinematic::get_x_move_amplitude(), 5.0); + ASSERT_EQ(ar::Kinematic::get_y_move_amplitude(), 4.0); +} + +TEST(KinematicTest, stop) +{ + ar::WalkingManager::stop(); + ASSERT_EQ(ar::Kinematic::get_running_state(), false); +} + +TEST(KinematicTest, run) +{ + ar::WalkingManager::run(1.0, 2.0, 3.0, false) + ASSERT_EQ(ar::WalkingManager::is_running(), false); + ASSERT_EQ(ar::Kinematic::get_x_move_amplitude(), 1.0); + ASSERT_EQ(ar::Kinematic::get_y_move_amplitude(), 2.0); +} + +// get_kinematic +// get_joints +// is running \ No newline at end of file From ef517711ed9757c723c285df17f24b17bee42a34 Mon Sep 17 00:00:00 2001 From: Aziel Godwin Hutajulu <87647440+Azielh@users.noreply.github.com> Date: Thu, 17 Nov 2022 21:30:35 +0700 Subject: [PATCH 4/4] fix: delete comment --- test/kinematic_test.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/test/kinematic_test.cpp b/test/kinematic_test.cpp index eabcec4..86739ad 100644 --- a/test/kinematic_test.cpp +++ b/test/kinematic_test.cpp @@ -63,7 +63,3 @@ TEST(KinematicTest, run) ASSERT_EQ(ar::Kinematic::get_x_move_amplitude(), 1.0); ASSERT_EQ(ar::Kinematic::get_y_move_amplitude(), 2.0); } - -// get_kinematic -// get_joints -// is running \ No newline at end of file