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added unit tests for calibration

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This commit is contained in:
Felix Mauch
2019-03-11 22:15:49 +01:00
parent d2eb7a8683
commit 792cdc3a08
6 changed files with 154 additions and 53 deletions
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test/calibration_test.cpp Normal file
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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
/*!\file
*
* \author Felix Mauch mauch@fzi.de
* \date 2019-03-11
*
*/
//----------------------------------------------------------------------
#include <gtest/gtest.h>
#include <ur_rtde_driver/calibration.h>
TEST(UrRtdeDriver, ur10_ideal)
{
DHRobot my_robot;
const double pi = std::atan(1)*4;
// This is an ideal UR10
// clang-format off
// d, a, theta, alpha
my_robot.segments_.push_back(DHSegment(0.1273 , 0 , 0 , pi / 2));
my_robot.segments_.push_back(DHSegment(0 , -0.612 , 0 , 0));
my_robot.segments_.push_back(DHSegment(0 , -0.5723, 0 , 0.0));
my_robot.segments_.push_back(DHSegment(0.163841, 0 , 0 , pi / 2));
my_robot.segments_.push_back(DHSegment(0.1157 , 0 , 0 , -pi / 2));
my_robot.segments_.push_back(DHSegment(0.0922 , 0 , 0 , 0));
// clang-format on
Calibration calibration(my_robot);
KDL::Chain robot_chain = calibration.getChain();
uint32_t num_jts = robot_chain.getNrOfJoints();
KDL::ChainFkSolverPos_recursive fk_solver(robot_chain);
KDL::JntArray jointpositions = KDL::JntArray(num_jts);
KDL::Frame result;
fk_solver.JntToCart(jointpositions, result);
// Check whether our internal KDL representation gives correct values
EXPECT_DOUBLE_EQ(result.p.x(), my_robot.segments_[1].a_ + my_robot.segments_[2].a_);
EXPECT_DOUBLE_EQ(result.p.y(), -1 * (my_robot.segments_[3].d_ + my_robot.segments_[5].d_));
EXPECT_DOUBLE_EQ(result.p.z(), my_robot.segments_[0].d_ - my_robot.segments_[4].d_);
}
TEST(UrRtdeDriver, calibration)
{
DHRobot my_robot;
const double pi = std::atan(1)*4;
// This is an ideal UR10
// clang-format off
// d, a, theta, alpha
my_robot.segments_.push_back(DHSegment(0.1273 , 0 , 0 , pi / 2));
my_robot.segments_.push_back(DHSegment(0 , -0.612 , 0 , 0));
my_robot.segments_.push_back(DHSegment(0 , -0.5723, 0 , 0.0));
my_robot.segments_.push_back(DHSegment(0.163841, 0 , 0 , pi / 2));
my_robot.segments_.push_back(DHSegment(0.1157 , 0 , 0 , -pi / 2));
my_robot.segments_.push_back(DHSegment(0.0922 , 0 , 0 , 0));
// clang-format on
DHRobot my_robot_calibration;
// clang-format off
// d, a, theta, alpha
my_robot_calibration.segments_.push_back(DHSegment(0.00065609212979853 ,4.6311376834935676e-05 ,-7.290070070824746e-05 ,0.000211987863869334 ));
my_robot_calibration.segments_.push_back(DHSegment(1.4442162376284788 ,-0.00012568315331862312 ,-0.01713897289704999 ,-0.0072553625957652995));
my_robot_calibration.segments_.push_back(DHSegment(0.854147723854608 ,0.00186216581161458 ,-0.03707159413492756 ,-0.013483226769541364 ));
my_robot_calibration.segments_.push_back(DHSegment(-2.2989425877563705 ,9.918593870679266e-05 ,0.054279462160583214 ,0.0013495820227329425 ));
my_robot_calibration.segments_.push_back(DHSegment(-1.573498686836816e-05 ,4.215462720453189e-06 ,1.488984257025741e-07 ,-0.001263136163679901 ));
my_robot_calibration.segments_.push_back(DHSegment(1.9072435590711256e-05 ,0 ,1.551499479707493e-05 ,0 ));
// clang-format on
Calibration calibration(my_robot + my_robot_calibration);
KDL::Chain robot_chain = calibration.getChain();
uint32_t num_jts = robot_chain.getNrOfJoints();
KDL::ChainFkSolverPos_recursive fk_solver(robot_chain);
KDL::JntArray jointpositions = KDL::JntArray(num_jts);
KDL::Frame result_original;
fk_solver.JntToCart(jointpositions, result_original);
KDL::Chain robot_chain_corrected = calibration.correctChain();
KDL::ChainFkSolverPos_recursive fk_solver_corrected(robot_chain_corrected);
KDL::Frame result_corrected;
fk_solver.JntToCart(jointpositions, result_corrected);
//
// Check whether our internal KDL representation gives correct values
std::cout << result_original.p.x() << std::endl;
std::cout << result_corrected.p.x() << std::endl;
std::cout << result_original.p.y() << std::endl;
std::cout << result_corrected.p.y() << std::endl;
std::cout << result_original.p.z() << std::endl;
std::cout << result_corrected.p.z() << std::endl;
EXPECT_DOUBLE_EQ(result_original.p.x(), result_corrected.p.x());
EXPECT_DOUBLE_EQ(result_original.p.y(), result_corrected.p.y());
EXPECT_DOUBLE_EQ(result_original.p.z(), result_corrected.p.z());
}
int main(int argc, char* argv[])
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}