Merge pull request #202 from Jmeyer1292/test/descartes_tests

descartes_tests package

.travis.yml

@@ -6,10 +6,7 @@ compiler:
 notifications:
   email:
     on_failure: always
-
 env:
-  global:
-    - BEFORE_SCRIPT='catkin config -w $CATKIN_WORKSPACE --no-install'
   matrix:
     - USE_DEB=true  
       ROS_DISTRO="kinetic" 

descartes/package.xml

@@ -16,7 +16,6 @@
   <run_depend>descartes_planner</run_depend>
   <run_depend>descartes_trajectory</run_depend>
   <run_depend>descartes_utilities</run_depend>
-
   <export>
     <metapackage/>
   </export>

descartes_moveit/CMakeLists.txt

@@ -59,22 +59,6 @@ target_link_libraries(descartes_moveit
                       ${catkin_LIBRARIES}
 )
 
-
-#############
-## Testing ##
-#############
-
-if(CATKIN_ENABLE_TESTING)
-  find_package(rostest)
-  set(UTEST_SRC_FILES test/utest.cpp
-      test/moveit_state_adapter_test.cpp)
-
-  add_rostest_gtest(${PROJECT_NAME}_utest test/launch/utest.launch ${UTEST_SRC_FILES})
-  target_compile_definitions(${PROJECT_NAME}_utest PUBLIC GTEST_USE_OWN_TR1_TUPLE=0)
-  target_link_libraries(${PROJECT_NAME}_utest descartes_moveit ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-endif()
-
-
 #############
 ## Install ##
 #############

descartes_planner/CMakeLists.txt

@@ -26,7 +26,6 @@ endif()
 catkin_package(
   INCLUDE_DIRS
     include
-    test
   LIBRARIES
     descartes_planner
   CATKIN_DEPENDS
@@ -72,20 +71,3 @@ install(
 install(
     DIRECTORY include/${PROJECT_NAME}/
     DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
-
-
-#############
-## Testing ##
-#############
-if(CATKIN_ENABLE_TESTING)
-
-  set(UTEST_PLANNER_SRC_FILES 
-      test/utest.cpp
-      test/dense_planner.cpp
-      test/sparse_planner.cpp
-      test/planning_graph_tests.cpp
-      test/utils/trajectory_maker.cpp)
-  catkin_add_gtest(${PROJECT_NAME}_planner_utest ${UTEST_PLANNER_SRC_FILES})
-  target_link_libraries(${PROJECT_NAME}_planner_utest descartes_planner)
-
-endif()

descartes_tests/CMakeLists.txt

@@ -0,0 +1,82 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(descartes_tests)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+  descartes_moveit
+  descartes_planner
+  descartes_trajectory
+)
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    ${PROJECT_NAME}
+  CATKIN_DEPENDS
+    descartes_moveit
+    descartes_planner
+    descartes_trajectory
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+  src/cartesian_robot.cpp
+)
+
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+if(CATKIN_ENABLE_TESTING)
+  # Trajectory Unit Tests
+  catkin_add_gtest(${PROJECT_NAME}_trajectory_utest
+    test/trajectory/utest.cpp
+    test/trajectory/axial_symmetric_pt.cpp
+    test/trajectory/cart_trajectory_pt.cpp
+    test/trajectory/joint_trajectory_pt.cpp
+    test/trajectory/cartesian_robot_test.cpp
+  )
+  target_compile_definitions(${PROJECT_NAME}_trajectory_utest PUBLIC GTEST_USE_OWN_TR1_TUPLE=0)
+  target_link_libraries(${PROJECT_NAME}_trajectory_utest ${PROJECT_NAME})
+
+  # Planner unit tests
+  catkin_add_gtest(${PROJECT_NAME}_planner_utest
+    test/planner/utest.cpp
+    test/planner/dense_planner.cpp
+    test/planner/sparse_planner.cpp
+    test/planner/planning_graph_tests.cpp
+    test/planner/utils/trajectory_maker.cpp
+  )
+  target_compile_definitions(${PROJECT_NAME}_planner_utest PUBLIC GTEST_USE_OWN_TR1_TUPLE=0)
+  target_link_libraries(${PROJECT_NAME}_planner_utest ${PROJECT_NAME})
+
+  # Moveit adapter unit tests
+  find_package(rostest)
+  add_rostest_gtest(${PROJECT_NAME}_moveit_utest
+    test/moveit/launch/utest.launch
+    test/moveit/utest.cpp
+    test/moveit/moveit_state_adapter_test.cpp
+  )
+  target_compile_definitions(${PROJECT_NAME}_moveit_utest PUBLIC GTEST_USE_OWN_TR1_TUPLE=0)
+  target_link_libraries(${PROJECT_NAME}_moveit_utest ${PROJECT_NAME})
+
+endif()

descartes_trajectory/test/descartes_trajectory_test/cartesian_robot.h → descartes_tests/include/descartes_tests/cartesian_robot.h

@@ -21,7 +21,7 @@
 
 #include "descartes_core/robot_model.h"
 
-namespace descartes_trajectory_test
+namespace descartes_tests
 {
 /**@brief Cartesian Robot used for test purposes.  This is a simple robot with simple kinematics.  Each
  * joint corresponds to a cartesian direction (i.e. x, y, R, P, Y) (don't ask me how this is built, it

descartes_tests/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package>
+  <name>descartes_tests</name>
+  <version>0.1.0</version>
+  <description>
+    A package dedicated to unit tests for the Descartes cartesian path
+    planning library.
+  </description>
+
+  <maintainer email="[email protected]">Jonathan Meyer</maintainer>
+  <license>Apache 2.0</license>
+
+  <test_depend>gtest</test_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>descartes_moveit</build_depend>
+  <build_depend>descartes_planner</build_depend>
+  <build_depend>descartes_trajectory</build_depend>
+  <run_depend>descartes_moveit</run_depend>
+  <run_depend>descartes_planner</run_depend>
+  <run_depend>descartes_trajectory</run_depend>
+
+</package>

descartes_trajectory/test/cartesian_robot.cpp → descartes_tests/src/cartesian_robot.cpp

@@ -16,13 +16,13 @@
  * limitations under the License.
  */
 
-#include "descartes_trajectory_test/cartesian_robot.h"
+#include "descartes_tests/cartesian_robot.h"
 #include "descartes_core/pretty_print.hpp"
 #include "eigen_conversions/eigen_kdl.h"
 #include "ros/console.h"
 #include "ros/assert.h"
 
-namespace descartes_trajectory_test
+namespace descartes_tests
 {
 const static int DOF = 6;
 
@@ -160,4 +160,4 @@ bool CartesianRobot::isValid(const Eigen::Affine3d &pose) const
 }
 
 
-}  // descartes_trajectory_test
+}

descartes_moveit/test/launch/moveit_state_adapter.launch → descartes_tests/test/moveit/launch/moveit_state_adapter.launch

@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- URDF file (including path) -->
-  <arg name="urdf_file" default="$(find descartes_moveit)/test/resources/kuka_kr210/kr210l150.urdf"/>
+  <arg name="urdf_file" default="$(find descartes_tests)/test/moveit/resources/kuka_kr210/kr210l150.urdf"/>
 
   <!-- Launch test node -->
   <arg name="run_test_node" default="true"/>
@@ -15,16 +15,16 @@
   <param name="$(arg robot_description)" textfile="$(arg urdf_file)"/>
 
   <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" textfile="$(find descartes_moveit)/test/resources/kuka_kr210/kuka_kr210.srdf" />
+  <param name="$(arg robot_description)_semantic" textfile="$(find descartes_tests)/test/moveit/resources/kuka_kr210/kuka_kr210.srdf" />
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find descartes_moveit)/test/resources/kuka_kr210/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find descartes_tests)/test/moveit/resources/kuka_kr210/joint_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
   <group ns="$(arg robot_description)_kinematics">
-    <rosparam command="load" file="$(find descartes_moveit)/test/resources/kuka_kr210/kinematics.yaml"/>
+    <rosparam command="load" file="$(find descartes_tests)/test/moveit/resources/kuka_kr210/kinematics.yaml"/>
   </group>
 
 </launch>

descartes_moveit/test/launch/utest.launch → descartes_tests/test/moveit/launch/utest.launch

@@ -9,13 +9,13 @@
 
 
 
-  <include file="$(find descartes_moveit)/test/launch/moveit_state_adapter.launch">
+  <include file="$(find descartes_tests)/test/moveit/launch/moveit_state_adapter.launch">
     <arg name="robot_description" value="$(arg robot_description)"/>
-    <arg name="urdf_file" value="$(find descartes_moveit)/test/resources/kuka_kr210/kr210l150.urdf"/>
+    <arg name="urdf_file" value="$(find descartes_tests)/test/moveit/resources/kuka_kr210/kr210l150.urdf"/>
     <arg name="run_test_node" value="$(arg run_test_node)"/>
   </include>
 
   <!-- Test Node -->
-  <test test-name="utest" pkg="descartes_moveit" type="descartes_moveit_utest" if="$(arg run_test_node)"/>
+  <test test-name="utest" pkg="descartes_tests" type="descartes_tests_moveit_utest" if="$(arg run_test_node)"/>
 
 </launch>

descartes_moveit/test/moveit_state_adapter_test.cpp → descartes_tests/test/moveit/moveit_state_adapter_test.cpp

@@ -17,17 +17,17 @@
  */
 
 #include "descartes_moveit/moveit_state_adapter.h"
-#include <descartes_trajectory_test/robot_model_test.hpp>
 #include "moveit/robot_model_loader/robot_model_loader.h"
 #include <gtest/gtest.h>
+#include "../trajectory/robot_model_test.hpp"
 
 using namespace descartes_moveit;
 using namespace descartes_trajectory;
 using namespace descartes_core;
 
 using testing::Types;
 
-namespace descartes_trajectory_test
+namespace descartes_tests
 {
 // This variable must be global in order for the test to pass.
 // Destructing the robot model results in a boost mutex exception:
@@ -56,7 +56,7 @@ RobotModelPtr CreateRobotModel<descartes_moveit::MoveitStateAdapter>()
 }
 
 template <class T>
-class MoveitRobotModelTest : public descartes_trajectory_test::RobotModelTest<T>
+class MoveitRobotModelTest : public descartes_tests::RobotModelTest<T>
 {
 };
 

descartes_planner/test/planner_tests.h → descartes_tests/test/planner/planner_tests.h

@@ -2,7 +2,7 @@
 
 #include <ros/console.h>
 #include <descartes_core/path_planner_base.h>
-#include <descartes_trajectory_test/cartesian_robot.h>
+#include <descartes_tests/cartesian_robot.h>
 
 #include "utils/trajectory_maker.h"
 
@@ -20,7 +20,7 @@ class PathPlannerTest : public testing::Test
   }
 
   PathPlannerTest()
-    : velocity_limits_(6, 1.0), robot_(new descartes_trajectory_test::CartesianRobot(5.0, 0.001, velocity_limits_))
+    : velocity_limits_(6, 1.0), robot_(new descartes_tests::CartesianRobot(5.0, 0.001, velocity_limits_))
   {
     ros::Time::init();
   }

descartes_planner/test/planning_graph_tests.cpp → descartes_tests/test/planner/planning_graph_tests.cpp

@@ -18,7 +18,7 @@
 
 #include <descartes_planner/planning_graph.h>
 #include <descartes_trajectory/joint_trajectory_pt.h>
-#include <descartes_trajectory_test/cartesian_robot.h>
+#include <descartes_tests/cartesian_robot.h>
 #include <boost/make_shared.hpp>
 
 #include <gtest/gtest.h>
@@ -28,7 +28,7 @@ static boost::shared_ptr<descartes_core::RobotModel> makeTestRobot()
   const auto max_joint_vel = 1.0;
   const auto dof = 6;
   return boost::shared_ptr<descartes_core::RobotModel>(
-    new descartes_trajectory_test::CartesianRobot(5.0, 0.001, std::vector<double>(dof, max_joint_vel))
+    new descartes_tests::CartesianRobot(5.0, 0.001, std::vector<double>(dof, max_joint_vel))
   );
 }
 

descartes_trajectory/test/axial_symmetric_pt.cpp → descartes_tests/test/trajectory/axial_symmetric_pt.cpp

@@ -18,11 +18,11 @@
 
 #include "descartes_trajectory/axial_symmetric_pt.h"
 #include "descartes_core/utils.h"
-#include "descartes_trajectory_test/cartesian_robot.h"
+#include "descartes_tests/cartesian_robot.h"
 #include <gtest/gtest.h>
 
 using namespace descartes_trajectory;
-using namespace descartes_trajectory_test;
+using namespace descartes_tests;
 
 // Does it have a default constructor
 TEST(AxialSymPt, construction)