Obbart/universal_robots_ros_driver
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Cleaned up tests

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This commit is contained in:
Felix Mauch
2019-04-01 10:08:29 +02:00
parent 3d93dd4226
commit bab303e83c
1 changed files with 12 additions and 24 deletions
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36
test/calibration_test.cpp
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@@ -84,44 +84,33 @@ TEST(UrRtdeDriver, calibration)
DHRobot my_robot_calibration;
// clang-format off
// d, a, theta, alpha
//my_robot_calibration.segments_.push_back(DHSegment(0 , 0 , 0 , 0.0));
//my_robot_calibration.segments_.push_back(DHSegment(0.5 , 0 , 0.1 , 0.2));
//my_robot_calibration.segments_.push_back(DHSegment(0.8 , 0 , 0.3 , 0.4));
//my_robot_calibration.segments_.push_back(DHSegment(-1.3 , 0 , 0 , 0.0));
//my_robot_calibration.segments_.push_back(DHSegment(0 , 0 , 0 , 0.0));
//my_robot_calibration.segments_.push_back(DHSegment(0 , 0 , 0 , 0.0));
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 ));
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);
Eigen::Matrix<double, 6, 1> jointvalues;
jointvalues << 0, 0, 0, 0, 0, 0;
// First let's see, whether our calibration input does make sense.
//{
// Eigen::Matrix4d fk = calibration.calcForwardKinematics(jointvalues);
// EXPECT_PRED3(isApproximately, -1.25672673098643, fk(0, 3), 1e-11);
// EXPECT_PRED3(isApproximately, -0.320928557210126, fk(1, 3), 1e-11);
// EXPECT_PRED3(isApproximately, 0.158086917698569, fk(2, 3), 1e-11);
//}
for (size_t i = 0; i < 1000; ++i)
{
Calibration calibration(my_robot + my_robot_calibration);
jointvalues = 2 * pi * Eigen::Matrix<double, 6, 1>::Random();
// TODO: Remove this output
std::cout << "Testing with jointvalues: [" << jointvalues.transpose() << "]" << std::endl;
Eigen::Matrix4d fk_orig = calibration.calcForwardKinematics(jointvalues);
Eigen::Matrix3d rot_mat_orig = fk_orig.topLeftCorner(3, 3);
Eigen::Quaterniond rot_orig(rot_mat_orig);
calibration.correctChain();
Eigen::Matrix4d fk_corrected = calibration.calcForwardKinematics(jointvalues);
Eigen::Matrix3d rot_mat_corrected = fk_corrected.topLeftCorner(3, 3);
Eigen::Quaterniond rot_corrected(rot_mat_corrected);
double angle_error = std::abs(rot_orig.angularDistance(rot_corrected));
EXPECT_PRED3(isApproximately, fk_orig(0, 3), fk_corrected(0, 3), 1e-12);
EXPECT_PRED3(isApproximately, fk_orig(1, 3), fk_corrected(1, 3), 1e-12);
EXPECT_PRED3(isApproximately, fk_orig(2, 3), fk_corrected(2, 3), 1e-12);
EXPECT_PRED3(isApproximately, angle_error, 0.0, 1e-12);
}
}
} // namespace
@@ -132,4 +121,3 @@ int main(int argc, char* argv[])
return RUN_ALL_TESTS();
}