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Issue #1235: improve transmission tests (backport #1238) #1242

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Dec 22, 2023
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Issue #1235: improve transmission tests (backport #1238) #1242

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64 changes: 34 additions & 30 deletions transmission_interface/test/differential_transmission_loader_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,12 @@
#include "transmission_interface/differential_transmission_loader.hpp"
#include "transmission_interface/transmission_loader.hpp"

using testing::DoubleNear;
using testing::SizeIs;

// Floating-point value comparison threshold
const double EPS = 1e-5;

class TransmissionPluginLoader
{
public:
Expand Down Expand Up @@ -113,16 +117,16 @@ TEST(DifferentialTransmissionLoaderTest, FullSpec)

const std::vector<double> & actuator_reduction =
differential_transmission->get_actuator_reduction();
EXPECT_EQ(50.0, actuator_reduction[0]);
EXPECT_EQ(-50.0, actuator_reduction[1]);
EXPECT_THAT(50.0, DoubleNear(actuator_reduction[0], EPS));
EXPECT_THAT(-50.0, DoubleNear(actuator_reduction[1], EPS));

const std::vector<double> & joint_reduction = differential_transmission->get_joint_reduction();
EXPECT_EQ(2.0, joint_reduction[0]);
EXPECT_EQ(-2.0, joint_reduction[1]);
EXPECT_THAT(2.0, DoubleNear(joint_reduction[0], EPS));
EXPECT_THAT(-2.0, DoubleNear(joint_reduction[1], EPS));

const std::vector<double> & joint_offset = differential_transmission->get_joint_offset();
EXPECT_EQ(0.5, joint_offset[0]);
EXPECT_EQ(-0.5, joint_offset[1]);
EXPECT_THAT(0.5, DoubleNear(joint_offset[0], EPS));
EXPECT_THAT(-0.5, DoubleNear(joint_offset[1], EPS));
}

TEST(DifferentialTransmissionLoaderTest, only_mech_red_specified)
Expand Down Expand Up @@ -184,16 +188,16 @@ TEST(DifferentialTransmissionLoaderTest, only_mech_red_specified)

const std::vector<double> & actuator_reduction =
differential_transmission->get_actuator_reduction();
EXPECT_EQ(50.0, actuator_reduction[0]);
EXPECT_EQ(-50.0, actuator_reduction[1]);
EXPECT_THAT(50.0, DoubleNear(actuator_reduction[0], EPS));
EXPECT_THAT(-50.0, DoubleNear(actuator_reduction[1], EPS));

const std::vector<double> & joint_reduction = differential_transmission->get_joint_reduction();
EXPECT_EQ(1.0, joint_reduction[0]);
EXPECT_EQ(1.0, joint_reduction[1]);
EXPECT_THAT(1.0, DoubleNear(joint_reduction[0], EPS));
EXPECT_THAT(1.0, DoubleNear(joint_reduction[1], EPS));

const std::vector<double> & joint_offset = differential_transmission->get_joint_offset();
EXPECT_EQ(0.0, joint_offset[0]);
EXPECT_EQ(0.0, joint_offset[1]);
EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
}

TEST(SimpleTransmissionLoaderTest, offset_and_mech_red_not_specified)
Expand Down Expand Up @@ -247,16 +251,16 @@ TEST(SimpleTransmissionLoaderTest, offset_and_mech_red_not_specified)

const std::vector<double> & actuator_reduction =
differential_transmission->get_actuator_reduction();
EXPECT_EQ(1.0, actuator_reduction[0]);
EXPECT_EQ(1.0, actuator_reduction[1]);
EXPECT_THAT(1.0, DoubleNear(actuator_reduction[0], EPS));
EXPECT_THAT(1.0, DoubleNear(actuator_reduction[1], EPS));

const std::vector<double> & joint_reduction = differential_transmission->get_joint_reduction();
EXPECT_EQ(1.0, joint_reduction[0]);
EXPECT_EQ(1.0, joint_reduction[1]);
EXPECT_THAT(1.0, DoubleNear(joint_reduction[0], EPS));
EXPECT_THAT(1.0, DoubleNear(joint_reduction[1], EPS));

const std::vector<double> & joint_offset = differential_transmission->get_joint_offset();
EXPECT_EQ(0.0, joint_offset[0]);
EXPECT_EQ(0.0, joint_offset[1]);
EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
}

TEST(DifferentialTransmissionLoaderTest, mechanical_reduction_not_a_number)
Expand Down Expand Up @@ -319,16 +323,16 @@ TEST(DifferentialTransmissionLoaderTest, mechanical_reduction_not_a_number)
// default kicks in for ill-defined values
const std::vector<double> & actuator_reduction =
differential_transmission->get_actuator_reduction();
EXPECT_EQ(1.0, actuator_reduction[0]);
EXPECT_EQ(1.0, actuator_reduction[1]);
EXPECT_THAT(1.0, DoubleNear(actuator_reduction[0], EPS));
EXPECT_THAT(1.0, DoubleNear(actuator_reduction[1], EPS));

const std::vector<double> & joint_reduction = differential_transmission->get_joint_reduction();
EXPECT_EQ(1.0, joint_reduction[0]);
EXPECT_EQ(1.0, joint_reduction[1]);
EXPECT_THAT(1.0, DoubleNear(joint_reduction[0], EPS));
EXPECT_THAT(1.0, DoubleNear(joint_reduction[1], EPS));

const std::vector<double> & joint_offset = differential_transmission->get_joint_offset();
EXPECT_EQ(0.0, joint_offset[0]);
EXPECT_EQ(0.0, joint_offset[1]);
EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
}

TEST(DifferentialTransmissionLoaderTest, offset_ill_defined)
Expand Down Expand Up @@ -393,17 +397,17 @@ TEST(DifferentialTransmissionLoaderTest, offset_ill_defined)
// default kicks in for ill-defined values
const std::vector<double> & actuator_reduction =
differential_transmission->get_actuator_reduction();
EXPECT_EQ(50.0, actuator_reduction[0]);
EXPECT_EQ(-50.0, actuator_reduction[1]);
EXPECT_THAT(50.0, DoubleNear(actuator_reduction[0], EPS));
EXPECT_THAT(-50.0, DoubleNear(actuator_reduction[1], EPS));

const std::vector<double> & joint_reduction = differential_transmission->get_joint_reduction();
EXPECT_EQ(2.0, joint_reduction[0]);
EXPECT_EQ(-2.0, joint_reduction[1]);
EXPECT_THAT(2.0, DoubleNear(joint_reduction[0], EPS));
EXPECT_THAT(-2.0, DoubleNear(joint_reduction[1], EPS));

// default kicks in for ill-defined values
const std::vector<double> & joint_offset = differential_transmission->get_joint_offset();
EXPECT_EQ(0.0, joint_offset[0]);
EXPECT_EQ(0.0, joint_offset[1]);
EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
}

TEST(DifferentialTransmissionLoaderTest, mech_red_invalid_value)
Expand Down
14 changes: 7 additions & 7 deletions transmission_interface/test/differential_transmission_test.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ using transmission_interface::DifferentialTransmission;
using transmission_interface::Exception;
using transmission_interface::JointHandle;
// Floating-point value comparison threshold
const double EPS = 1e-6;
const double EPS = 1e-5;

TEST(PreconditionsTest, ExceptionThrowing)
{
Expand Down Expand Up @@ -79,12 +79,12 @@ TEST(PreconditionsTest, AccessorValidation)

EXPECT_EQ(2u, trans.num_actuators());
EXPECT_EQ(2u, trans.num_joints());
EXPECT_EQ(2.0, trans.get_actuator_reduction()[0]);
EXPECT_EQ(-2.0, trans.get_actuator_reduction()[1]);
EXPECT_EQ(4.0, trans.get_joint_reduction()[0]);
EXPECT_EQ(-4.0, trans.get_joint_reduction()[1]);
EXPECT_EQ(1.0, trans.get_joint_offset()[0]);
EXPECT_EQ(-1.0, trans.get_joint_offset()[1]);
EXPECT_THAT(2.0, DoubleNear(trans.get_actuator_reduction()[0], EPS));
EXPECT_THAT(-2.0, DoubleNear(trans.get_actuator_reduction()[1], EPS));
EXPECT_THAT(4.0, DoubleNear(trans.get_joint_reduction()[0], EPS));
EXPECT_THAT(-4.0, DoubleNear(trans.get_joint_reduction()[1], EPS));
EXPECT_THAT(1.0, DoubleNear(trans.get_joint_offset()[0], EPS));
EXPECT_THAT(-1.0, DoubleNear(trans.get_joint_offset()[1], EPS));
}

void testConfigureWithBadHandles(std::string interface_name)
Expand Down
64 changes: 34 additions & 30 deletions transmission_interface/test/four_bar_linkage_transmission_loader_test.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,12 @@
#include "transmission_interface/four_bar_linkage_transmission_loader.hpp"
#include "transmission_interface/transmission_loader.hpp"

using testing::DoubleNear;
using testing::SizeIs;

// Floating-point value comparison threshold
const double EPS = 1e-5;

class TransmissionPluginLoader
{
public:
Expand Down Expand Up @@ -113,17 +117,17 @@ TEST(FourBarLinkageTransmissionLoaderTest, FullSpec)

const std::vector<double> & actuator_reduction =
four_bar_linkage_transmission->get_actuator_reduction();
EXPECT_EQ(50.0, actuator_reduction[0]);
EXPECT_EQ(-50.0, actuator_reduction[1]);
EXPECT_THAT(50.0, DoubleNear(actuator_reduction[0], EPS));
EXPECT_THAT(-50.0, DoubleNear(actuator_reduction[1], EPS));

const std::vector<double> & joint_reduction =
four_bar_linkage_transmission->get_joint_reduction();
EXPECT_EQ(2.0, joint_reduction[0]);
EXPECT_EQ(-2.0, joint_reduction[1]);
EXPECT_THAT(2.0, DoubleNear(joint_reduction[0], EPS));
EXPECT_THAT(-2.0, DoubleNear(joint_reduction[1], EPS));

const std::vector<double> & joint_offset = four_bar_linkage_transmission->get_joint_offset();
EXPECT_EQ(0.5, joint_offset[0]);
EXPECT_EQ(-0.5, joint_offset[1]);
EXPECT_THAT(0.5, DoubleNear(joint_offset[0], EPS));
EXPECT_THAT(-0.5, DoubleNear(joint_offset[1], EPS));
}

TEST(FourBarLinkageTransmissionLoaderTest, only_mech_red_specified)
Expand Down Expand Up @@ -185,17 +189,17 @@ TEST(FourBarLinkageTransmissionLoaderTest, only_mech_red_specified)

const std::vector<double> & actuator_reduction =
four_bar_linkage_transmission->get_actuator_reduction();
EXPECT_EQ(50.0, actuator_reduction[0]);
EXPECT_EQ(-50.0, actuator_reduction[1]);
EXPECT_THAT(50.0, DoubleNear(actuator_reduction[0], EPS));
EXPECT_THAT(-50.0, DoubleNear(actuator_reduction[1], EPS));

const std::vector<double> & joint_reduction =
four_bar_linkage_transmission->get_joint_reduction();
EXPECT_EQ(1.0, joint_reduction[0]);
EXPECT_EQ(1.0, joint_reduction[1]);
EXPECT_THAT(1.0, DoubleNear(joint_reduction[0], EPS));
EXPECT_THAT(1.0, DoubleNear(joint_reduction[1], EPS));

const std::vector<double> & joint_offset = four_bar_linkage_transmission->get_joint_offset();
EXPECT_EQ(0.0, joint_offset[0]);
EXPECT_EQ(0.0, joint_offset[1]);
EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
}

TEST(DifferentialTransmissionLoaderTest, offset_and_mech_red_not_specified)
Expand Down Expand Up @@ -249,17 +253,17 @@ TEST(DifferentialTransmissionLoaderTest, offset_and_mech_red_not_specified)

const std::vector<double> & actuator_reduction =
four_bar_linkage_transmission->get_actuator_reduction();
EXPECT_EQ(1.0, actuator_reduction[0]);
EXPECT_EQ(1.0, actuator_reduction[1]);
EXPECT_THAT(1.0, DoubleNear(actuator_reduction[0], EPS));
EXPECT_THAT(1.0, DoubleNear(actuator_reduction[1], EPS));

const std::vector<double> & joint_reduction =
four_bar_linkage_transmission->get_joint_reduction();
EXPECT_EQ(1.0, joint_reduction[0]);
EXPECT_EQ(1.0, joint_reduction[1]);
EXPECT_THAT(1.0, DoubleNear(joint_reduction[0], EPS));
EXPECT_THAT(1.0, DoubleNear(joint_reduction[1], EPS));

const std::vector<double> & joint_offset = four_bar_linkage_transmission->get_joint_offset();
EXPECT_EQ(0.0, joint_offset[0]);
EXPECT_EQ(0.0, joint_offset[1]);
EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
}

TEST(FourBarLinkageTransmissionLoaderTest, mechanical_reduction_not_a_number)
Expand Down Expand Up @@ -322,17 +326,17 @@ TEST(FourBarLinkageTransmissionLoaderTest, mechanical_reduction_not_a_number)
// default kicks in for ill-defined values
const std::vector<double> & actuator_reduction =
four_bar_linkage_transmission->get_actuator_reduction();
EXPECT_EQ(1.0, actuator_reduction[0]);
EXPECT_EQ(1.0, actuator_reduction[1]);
EXPECT_THAT(1.0, DoubleNear(actuator_reduction[0], EPS));
EXPECT_THAT(1.0, DoubleNear(actuator_reduction[1], EPS));

const std::vector<double> & joint_reduction =
four_bar_linkage_transmission->get_joint_reduction();
EXPECT_EQ(1.0, joint_reduction[0]);
EXPECT_EQ(1.0, joint_reduction[1]);
EXPECT_THAT(1.0, DoubleNear(joint_reduction[0], EPS));
EXPECT_THAT(1.0, DoubleNear(joint_reduction[1], EPS));

const std::vector<double> & joint_offset = four_bar_linkage_transmission->get_joint_offset();
EXPECT_EQ(0.0, joint_offset[0]);
EXPECT_EQ(0.0, joint_offset[1]);
EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
}

TEST(FourBarLinkageTransmissionLoaderTest, offset_ill_defined)
Expand Down Expand Up @@ -397,18 +401,18 @@ TEST(FourBarLinkageTransmissionLoaderTest, offset_ill_defined)
// default kicks in for ill-defined values
const std::vector<double> & actuator_reduction =
four_bar_linkage_transmission->get_actuator_reduction();
EXPECT_EQ(50.0, actuator_reduction[0]);
EXPECT_EQ(-50.0, actuator_reduction[1]);
EXPECT_THAT(50.0, DoubleNear(actuator_reduction[0], EPS));
EXPECT_THAT(-50.0, DoubleNear(actuator_reduction[1], EPS));

const std::vector<double> & joint_reduction =
four_bar_linkage_transmission->get_joint_reduction();
EXPECT_EQ(2.0, joint_reduction[0]);
EXPECT_EQ(-2.0, joint_reduction[1]);
EXPECT_THAT(2.0, DoubleNear(joint_reduction[0], EPS));
EXPECT_THAT(-2.0, DoubleNear(joint_reduction[1], EPS));

// default kicks in for ill-defined values
const std::vector<double> & joint_offset = four_bar_linkage_transmission->get_joint_offset();
EXPECT_EQ(0.0, joint_offset[0]);
EXPECT_EQ(0.0, joint_offset[1]);
EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
}

TEST(FourBarLinkageTransmissionLoaderTest, mech_red_invalid_value)
Expand Down
14 changes: 7 additions & 7 deletions transmission_interface/test/four_bar_linkage_transmission_test.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ using transmission_interface::FourBarLinkageTransmission;
using transmission_interface::JointHandle;

// Floating-point value comparison threshold
const double EPS = 1e-6;
const double EPS = 1e-5;

TEST(PreconditionsTest, ExceptionThrowing)
{
Expand Down Expand Up @@ -83,12 +83,12 @@ TEST(PreconditionsTest, AccessorValidation)

EXPECT_EQ(2u, trans.num_actuators());
EXPECT_EQ(2u, trans.num_joints());
EXPECT_EQ(2.0, trans.get_actuator_reduction()[0]);
EXPECT_EQ(-2.0, trans.get_actuator_reduction()[1]);
EXPECT_EQ(4.0, trans.get_joint_reduction()[0]);
EXPECT_EQ(-4.0, trans.get_joint_reduction()[1]);
EXPECT_EQ(1.0, trans.get_joint_offset()[0]);
EXPECT_EQ(-1.0, trans.get_joint_offset()[1]);
EXPECT_THAT(2.0, DoubleNear(trans.get_actuator_reduction()[0], EPS));
EXPECT_THAT(-2.0, DoubleNear(trans.get_actuator_reduction()[1], EPS));
EXPECT_THAT(4.0, DoubleNear(trans.get_joint_reduction()[0], EPS));
EXPECT_THAT(-4.0, DoubleNear(trans.get_joint_reduction()[1], EPS));
EXPECT_THAT(1.0, DoubleNear(trans.get_joint_offset()[0], EPS));
EXPECT_THAT(-1.0, DoubleNear(trans.get_joint_offset()[1], EPS));
}

void testConfigureWithBadHandles(std::string interface_name)
Expand Down
22 changes: 13 additions & 9 deletions transmission_interface/test/simple_transmission_loader_test.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,12 @@
#include "transmission_interface/simple_transmission_loader.hpp"
#include "transmission_interface/transmission_loader.hpp"

using testing::DoubleNear;
using testing::SizeIs;

// Floating-point value comparison threshold
const double EPS = 1e-5;

class TransmissionPluginLoader
{
public:
Expand Down Expand Up @@ -229,8 +233,8 @@ TEST(SimpleTransmissionLoaderTest, FullSpec)
transmission_interface::SimpleTransmission * simple_transmission =
dynamic_cast<transmission_interface::SimpleTransmission *>(transmission.get());
ASSERT_TRUE(nullptr != simple_transmission);
EXPECT_EQ(325.949, simple_transmission->get_actuator_reduction());
EXPECT_EQ(0.0, simple_transmission->get_joint_offset());
EXPECT_THAT(325.949, DoubleNear(simple_transmission->get_actuator_reduction(), EPS));
EXPECT_THAT(0.0, DoubleNear(simple_transmission->get_joint_offset(), EPS));
}

TEST(SimpleTransmissionLoaderTest, only_mech_red_specified)
Expand Down Expand Up @@ -275,8 +279,8 @@ TEST(SimpleTransmissionLoaderTest, only_mech_red_specified)
transmission_interface::SimpleTransmission * simple_transmission =
dynamic_cast<transmission_interface::SimpleTransmission *>(transmission.get());
ASSERT_TRUE(nullptr != simple_transmission);
EXPECT_EQ(50.0, simple_transmission->get_actuator_reduction());
EXPECT_EQ(0.0, simple_transmission->get_joint_offset());
EXPECT_THAT(50.0, DoubleNear(simple_transmission->get_actuator_reduction(), EPS));
EXPECT_THAT(0.0, DoubleNear(simple_transmission->get_joint_offset(), EPS));
}

TEST(SimpleTransmissionLoaderTest, offset_and_mech_red_not_specified)
Expand Down Expand Up @@ -317,8 +321,8 @@ TEST(SimpleTransmissionLoaderTest, offset_and_mech_red_not_specified)
transmission_interface::SimpleTransmission * simple_transmission =
dynamic_cast<transmission_interface::SimpleTransmission *>(transmission.get());
ASSERT_TRUE(nullptr != simple_transmission);
EXPECT_EQ(1.0, simple_transmission->get_actuator_reduction());
EXPECT_EQ(0.0, simple_transmission->get_joint_offset());
EXPECT_THAT(1.0, DoubleNear(simple_transmission->get_actuator_reduction(), EPS));
EXPECT_THAT(0.0, DoubleNear(simple_transmission->get_joint_offset(), EPS));
}

TEST(SimpleTransmissionLoaderTest, mechanical_reduction_not_a_number)
Expand Down Expand Up @@ -360,7 +364,7 @@ TEST(SimpleTransmissionLoaderTest, mechanical_reduction_not_a_number)
dynamic_cast<transmission_interface::SimpleTransmission *>(transmission.get());
ASSERT_TRUE(nullptr != simple_transmission);
// default kicks in for ill-defined values
EXPECT_EQ(1.0, simple_transmission->get_actuator_reduction());
EXPECT_THAT(1.0, DoubleNear(simple_transmission->get_actuator_reduction(), EPS));
}

TEST(SimpleTransmissionLoaderTest, offset_ill_defined)
Expand Down Expand Up @@ -403,8 +407,8 @@ TEST(SimpleTransmissionLoaderTest, offset_ill_defined)
dynamic_cast<transmission_interface::SimpleTransmission *>(transmission.get());
ASSERT_TRUE(nullptr != simple_transmission);
// default kicks in for ill-defined values
EXPECT_EQ(0.0, simple_transmission->get_joint_offset());
EXPECT_EQ(50.0, simple_transmission->get_actuator_reduction());
EXPECT_THAT(0.0, DoubleNear(simple_transmission->get_joint_offset(), EPS));
EXPECT_THAT(50.0, DoubleNear(simple_transmission->get_actuator_reduction(), EPS));
}

TEST(SimpleTransmissionLoaderTest, mech_red_invalid_value)
Expand Down
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