102 lines
4.0 KiB
C++
102 lines
4.0 KiB
C++
// Copyright (c) 2023 Franka Emika GmbH
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#include <algorithm>
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#include <memory>
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#include <string>
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#include <vector>
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#include "franka/model.h"
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#include "franka/robot_state.h"
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#include "franka_semantic_components/franka_robot_model.hpp"
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#include "gmock/gmock.h"
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class FrankaRobotModelTest;
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class MockModel : public franka_hardware::Model {
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public:
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MOCK_METHOD((std::array<double, 7>), gravity, (const franka::RobotState&), (const, override));
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MOCK_METHOD((std::array<double, 7>), coriolis, (const franka::RobotState&), (const, override));
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MOCK_METHOD((std::array<double, 16>),
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pose,
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(franka::Frame, const franka::RobotState&),
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(const, override));
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MOCK_METHOD((std::array<double, 42>),
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bodyJacobian,
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(franka::Frame, const franka::RobotState&),
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(const, override));
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MOCK_METHOD((std::array<double, 42>),
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zeroJacobian,
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(franka::Frame, const franka::RobotState&),
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(const, override));
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MOCK_METHOD((std::array<double, 49>), mass, (const franka::RobotState&), (const, override));
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};
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class FrankaRobotModelTestFriend : public franka_semantic_components::FrankaRobotModel {
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FRIEND_TEST(FrankaRobotModelTest, validate_state_names_and_size);
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FRIEND_TEST(FrankaRobotModelTest,
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given_franka_semantic_model_initialized_when_get_coriolis_expect_one);
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FRIEND_TEST(FrankaRobotModelTest,
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given_franka_semantic_model_initialized_when_get_gravity_expect_one);
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FRIEND_TEST(FrankaRobotModelTest,
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given_franka_semantic_model_initialized_when_get_pose_expect_one);
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FRIEND_TEST(FrankaRobotModelTest,
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given_franka_semantic_model_initialized_when_get_mass_expect_correct);
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FRIEND_TEST(FrankaRobotModelTest, given_franka_semantic_model_not_initialized_expect_exception);
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FRIEND_TEST(FrankaRobotModelTest,
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given_franka_semantic_model_not_initialized_when_get_gravity_called_expect_exception);
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FRIEND_TEST(FrankaRobotModelTest,
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given_franka_semantic_model_not_initialized_when_get_pose_called_expect_exception);
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FRIEND_TEST(FrankaRobotModelTest,
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given_franka_semantic_model_not_initialized_when_get_pose_called_expect_exception);
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FRIEND_TEST(
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FrankaRobotModelTest,
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given_franka_semantic_model_not_initialized_when_get_body_jacobian_called_expect_exception);
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FRIEND_TEST(
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FrankaRobotModelTest,
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given_franka_semantic_model_not_initialized_when_get_zero_jacobian_called_expect_exception);
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public:
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FrankaRobotModelTestFriend(const std::string& model_interface_name,
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const std::string& model_state_name)
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: franka_semantic_components::FrankaRobotModel(model_interface_name, model_state_name) {}
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FrankaRobotModelTestFriend() = delete;
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virtual ~FrankaRobotModelTestFriend() = default;
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};
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class FrankaRobotModelTest : public ::testing::Test {
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public:
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void SetUp();
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void TearDown();
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protected:
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const size_t size = 2;
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const std::string robot_name = "panda";
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const std::string franka_model_interface_name = "robot_model";
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const std::string franka_state_interface_name = "robot_state";
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MockModel mock_model;
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MockModel* model_address = &mock_model;
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franka::RobotState robot_state;
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franka::RobotState* robot_state_address = &robot_state;
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std::unique_ptr<FrankaRobotModelTestFriend> franka_robot_model_friend;
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std::vector<std::string> full_interface_names;
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};
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