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Convert shared pointers in some tests to stack allocated instances #380

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Sep 19, 2023
Merged

Convert shared pointers in some tests to stack allocated instances #380

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e40d5cc
Convert pointers to stack allocated instances in testPrismaticJoint
achintyamohan Sep 14, 2023
6812f68
Convert pointers to stack allocated instances in testHelicalJoint
achintyamohan Sep 14, 2023
2e6914e
Convert pointers to stack allocated instances in testSdf
achintyamohan Sep 14, 2023
ece1132
Merge branch 'borglab:master' into master
achintyamohan Sep 19, 2023
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39 changes: 19 additions & 20 deletions tests/testHelicalJoint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,58 +43,57 @@ TEST(Joint, params_constructor) {
parameters.scalar_limits.value_upper_limit = 1.57;
parameters.scalar_limits.value_limit_threshold = 0;

auto j1 = std::make_shared<HelicalJoint>(
123, "j1", Pose3(Rot3(), Point3(0, 0, 2)), l1, l2,
gtsam::Vector3(1, 0, 0), 0.5, parameters);
auto j1 = HelicalJoint(123, "j1", Pose3(Rot3(), Point3(0, 0, 2)), l1, l2,
gtsam::Vector3(1, 0, 0), 0.5, parameters);

// name
EXPECT(assert_equal(j1->name(), "j1"));
EXPECT(assert_equal(j1.name(), "j1"));

// ID
EXPECT(123 == j1->id());
EXPECT(123 == j1.id());

// joint effort type
EXPECT(j1->parameters().effort_type == JointEffortType::Actuated);
EXPECT(j1.parameters().effort_type == JointEffortType::Actuated);

// other link
EXPECT(j1->otherLink(l2) == l1);
EXPECT(j1->otherLink(l1) == l2);
EXPECT(j1.otherLink(l2) == l1);
EXPECT(j1.otherLink(l1) == l2);

// screw axis
gtsam::Vector6 screw_axis_l1, screw_axis_l2;
screw_axis_l1 << -1, 0, 0, -0.5 / 2 / M_PI, -1, 0; // parent frame
screw_axis_l2 << 1, 0, 0, 0.5 / 2 / M_PI, -1, 0; // child frame
EXPECT(assert_equal(screw_axis_l2, j1->screwAxis(l2)));
EXPECT(assert_equal(screw_axis_l1, j1->screwAxis(l1)));
EXPECT(assert_equal(screw_axis_l2, j1.screwAxis(l2)));
EXPECT(assert_equal(screw_axis_l1, j1.screwAxis(l1)));

// rest transform
Pose3 T_12comRest(Rot3::Rx(0), Point3(0, 0, 2));
Pose3 T_21comRest(Rot3::Rx(0), Point3(0, 0, -2));
EXPECT(assert_equal(T_12comRest, j1->relativePoseOf(l2, 0.0)));
EXPECT(assert_equal(T_21comRest, j1->relativePoseOf(l1, 0.0)));
EXPECT(assert_equal(T_12comRest, j1.relativePoseOf(l2, 0.0)));
EXPECT(assert_equal(T_21comRest, j1.relativePoseOf(l1, 0.0)));

// transform to (rotating -pi/2)
Pose3 T_12com(Rot3::Rx(-M_PI / 2), Point3(-0.125, 1, 1));
Pose3 T_21com(Rot3::Rx(M_PI / 2), Point3(0.125, 1, -1));
EXPECT(assert_equal(T_12com, j1->relativePoseOf(l2, -M_PI / 2)));
EXPECT(assert_equal(T_21com, j1->relativePoseOf(l1, -M_PI / 2)));
EXPECT(assert_equal(T_12com, j1.relativePoseOf(l2, -M_PI / 2)));
EXPECT(assert_equal(T_21com, j1.relativePoseOf(l1, -M_PI / 2)));

// links
auto links = j1->links();
auto links = j1.links();
EXPECT(links[0] == l1);
EXPECT(links[1] == l2);

// parent & child link
EXPECT(j1->parent() == l1);
EXPECT(j1->child() == l2);
EXPECT(j1.parent() == l1);
EXPECT(j1.child() == l2);

// joint limit
EXPECT(assert_equal(parameters.scalar_limits.value_lower_limit,
j1->parameters().scalar_limits.value_lower_limit));
j1.parameters().scalar_limits.value_lower_limit));
EXPECT(assert_equal(parameters.scalar_limits.value_upper_limit,
j1->parameters().scalar_limits.value_upper_limit));
j1.parameters().scalar_limits.value_upper_limit));
EXPECT(assert_equal(parameters.scalar_limits.value_limit_threshold,
j1->parameters().scalar_limits.value_limit_threshold));
j1.parameters().scalar_limits.value_limit_threshold));
}

#ifdef GTDYNAMICS_ENABLE_BOOST_SERIALIZATION
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43 changes: 20 additions & 23 deletions tests/testPrismaticJoint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,61 +44,58 @@ TEST(Joint, params_constructor_prismatic) {

const gtsam::Vector3 j1_axis(0, 0, 1);

auto j1 = std::make_shared<PrismaticJoint>(
1, "j1", Pose3(Rot3::Rx(1.5707963268), Point3(0, 0, 2)), l1, l2, j1_axis,
parameters);

// get shared ptr
EXPECT(j1->shared() == j1);
auto j1 =
PrismaticJoint(1, "j1", Pose3(Rot3::Rx(1.5707963268), Point3(0, 0, 2)),
l1, l2, j1_axis, parameters);

// get, set ID
EXPECT(j1->id() == 1);
EXPECT(j1.id() == 1);

// name
EXPECT(assert_equal(j1->name(), "j1"));
EXPECT(assert_equal(j1.name(), "j1"));

// joint effort type
EXPECT(j1->parameters().effort_type == JointEffortType::Actuated);
EXPECT(j1.parameters().effort_type == JointEffortType::Actuated);

// other link
EXPECT(j1->otherLink(l2) == l1);
EXPECT(j1->otherLink(l1) == l2);
EXPECT(j1.otherLink(l2) == l1);
EXPECT(j1.otherLink(l1) == l2);

// rest transform
Pose3 T_12comRest(Rot3::Rx(1.5707963268), Point3(0, -1, 1));
Pose3 T_21comRest(Rot3::Rx(-1.5707963268), Point3(0, -1, -1));
EXPECT(assert_equal(T_12comRest, j1->relativePoseOf(l2, 0.0), 1e-5));
EXPECT(assert_equal(T_21comRest, j1->relativePoseOf(l1, 0.0), 1e-5));
EXPECT(assert_equal(T_12comRest, j1.relativePoseOf(l2, 0.0), 1e-5));
EXPECT(assert_equal(T_21comRest, j1.relativePoseOf(l1, 0.0), 1e-5));

// transform to (translating +1)
Pose3 T_12com(Rot3::Rx(1.5707963268), Point3(0, -2, 1));
Pose3 T_21com(Rot3::Rx(-1.5707963268), Point3(0, -1, -2));
EXPECT(assert_equal(T_12com, j1->relativePoseOf(l2, 1), 1e-5));
EXPECT(assert_equal(T_21com, j1->relativePoseOf(l1, 1), 1e-5));
EXPECT(assert_equal(T_12com, j1.relativePoseOf(l2, 1), 1e-5));
EXPECT(assert_equal(T_21com, j1.relativePoseOf(l1, 1), 1e-5));

// screw axis
gtsam::Vector6 screw_axis_l1, screw_axis_l2;
screw_axis_l1 << 0, 0, 0, 0, 1, 0;
screw_axis_l2 << 0, 0, 0, 0, 0, 1;
EXPECT(assert_equal(screw_axis_l1, j1->screwAxis(l1)));
EXPECT(assert_equal(screw_axis_l2, j1->screwAxis(l2), 1e-5));
EXPECT(assert_equal(screw_axis_l1, j1.screwAxis(l1)));
EXPECT(assert_equal(screw_axis_l2, j1.screwAxis(l2), 1e-5));

// links
auto links = j1->links();
auto links = j1.links();
EXPECT(links[0] == l1);
EXPECT(links[1] == l2);

// parent & child link
EXPECT(j1->parent() == l1);
EXPECT(j1->child() == l2);
EXPECT(j1.parent() == l1);
EXPECT(j1.child() == l2);

// joint limit
EXPECT(assert_equal(parameters.scalar_limits.value_lower_limit,
j1->parameters().scalar_limits.value_lower_limit));
j1.parameters().scalar_limits.value_lower_limit));
EXPECT(assert_equal(parameters.scalar_limits.value_upper_limit,
j1->parameters().scalar_limits.value_upper_limit));
j1.parameters().scalar_limits.value_upper_limit));
EXPECT(assert_equal(parameters.scalar_limits.value_limit_threshold,
j1->parameters().scalar_limits.value_limit_threshold));
j1.parameters().scalar_limits.value_limit_threshold));
}

#ifdef GTDYNAMICS_ENABLE_BOOST_SERIALIZATION
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