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Add unit tests to cover new addTrajectoryLinkCommand #881

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merged 4 commits into from
Apr 11, 2023
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Merged

Add unit tests to cover new addTrajectoryLinkCommand #881

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3b0275e
Add unit tests to cover new addTrajectoryLinkCommand
Levi-Armstrong Apr 10, 2023
d00ae86
Improve general resource locator
Levi-Armstrong Apr 10, 2023
7a8c468
Improve tesseract_common unit test coverage
Levi-Armstrong Apr 10, 2023
1f80f65
Fix polygon_mesh default geometry type in constructor
Levi-Armstrong Apr 10, 2023
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2 changes: 2 additions & 0 deletions tesseract_common/include/tesseract_common/resource_locator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,8 @@ class GeneralResourceLocator : public ResourceLocator
void serialize(Archive& ar, const unsigned int version); // NOLINT

std::unordered_map<std::string, std::string> package_paths_;

void processToken(const std::string& token);
};

/** @brief Represents resource data available from a file or url */
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6 changes: 5 additions & 1 deletion tesseract_common/src/joint_state.cpp
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Expand Up @@ -83,6 +83,8 @@ bool JointTrajectory::operator==(const JointTrajectory& other) const

bool JointTrajectory::operator!=(const JointTrajectory& rhs) const { return !operator==(rhs); }

// LCOV_EXCL_START

///////////////
// Iterators //
///////////////
Expand Down Expand Up @@ -121,7 +123,7 @@ JointTrajectory::const_reference JointTrajectory::at(size_type n) const { return
JointTrajectory::pointer JointTrajectory::data() { return states.data(); }
JointTrajectory::const_pointer JointTrajectory::data() const { return states.data(); }
JointTrajectory::reference JointTrajectory::operator[](size_type pos) { return states[pos]; }
JointTrajectory::const_reference JointTrajectory::operator[](size_type pos) const { return states[pos]; };
JointTrajectory::const_reference JointTrajectory::operator[](size_type pos) const { return states[pos]; }

///////////////
// Modifiers //
Expand Down Expand Up @@ -164,6 +166,8 @@ void JointTrajectory::emplace_back(Args&&... args)
void JointTrajectory::pop_back() { states.pop_back(); }
void JointTrajectory::swap(std::vector<value_type>& other) { states.swap(other); }

// LCOV_EXCL_STOP

template <class Archive>
void JointTrajectory::serialize(Archive& ar, const unsigned int version) // NOLINT
{
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57 changes: 36 additions & 21 deletions tesseract_common/src/resource_locator.cpp
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Expand Up @@ -66,19 +66,7 @@ GeneralResourceLocator::GeneralResourceLocator()
boost::split(tokens, tesseract_resource_paths, boost::is_any_of(";"), boost::token_compress_on);
#endif
for (const auto& token : tokens)
{
tesseract_common::fs::path d(token);
if (tesseract_common::fs::is_directory(d) && tesseract_common::fs::exists(d))
{
std::string dir_name = d.filename().string();
if (package_paths_.find(dir_name) == package_paths_.end())
package_paths_[dir_name] = token;
}
else
{
CONSOLE_BRIDGE_logWarn("Package Path does not exist: %s", token.c_str());
}
}
processToken(token);
}

char* ros_package_paths = std::getenv("ROS_PACKAGE_PATH");
Expand All @@ -91,20 +79,47 @@ GeneralResourceLocator::GeneralResourceLocator()
boost::split(tokens, ros_package_paths, boost::is_any_of(";"), boost::token_compress_on);
#endif
for (const auto& token : tokens)
processToken(token);
}
}

void GeneralResourceLocator::processToken(const std::string& token)
{
tesseract_common::fs::path d(token);
if (tesseract_common::fs::is_directory(d) && tesseract_common::fs::exists(d))
{
// Check current directory
tesseract_common::fs::path check = d;
check.append("package.xml");
if (tesseract_common::fs::exists(check))
{
tesseract_common::fs::path d(token);
if (tesseract_common::fs::is_directory(d) && tesseract_common::fs::exists(d))
std::string dir_name = d.filename().string();
if (package_paths_.find(dir_name) == package_paths_.end())
package_paths_[dir_name] = d.string();
}

// Check all subdirectories
tesseract_common::fs::recursive_directory_iterator dir(d), end;
while (dir != end)
{
tesseract_common::fs::path check = dir->path();
check.append("package.xml");
if (tesseract_common::fs::exists(check))
{
std::string dir_name = d.filename().string();
std::string dir_name = dir->path().filename().string();
if (package_paths_.find(dir_name) == package_paths_.end())
package_paths_[dir_name] = token;
}
else
{
CONSOLE_BRIDGE_logError("Package Path does not exist: &s", token.c_str());
package_paths_[dir_name] = dir->path().string();

dir.no_push(); // don't recurse into this directory.
}

++dir;
}
}
else
{
CONSOLE_BRIDGE_logError("Package Path does not exist: &s", token.c_str());
}
}

std::shared_ptr<Resource> GeneralResourceLocator::locateResource(const std::string& url) const
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234 changes: 234 additions & 0 deletions tesseract_common/test/tesseract_common_serialization_unit.cpp
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Expand Up @@ -330,6 +330,240 @@ TEST(TesseractCommonSerializeUnit, VectorXd) // NOLINT
}
}

TEST(TesseractCommonSerializeUnit, VectorXi) // NOLINT
{
{ // Serialize empty object
Eigen::VectorXi ev;
{
std::ofstream os(tesseract_common::getTempPath() + "eigen_vector_xi_boost.xml");
boost::archive::xml_oarchive oa(os);
oa << BOOST_SERIALIZATION_NVP(ev);
}

Eigen::VectorXi nev;
{
std::ifstream ifs(tesseract_common::getTempPath() + "eigen_vector_xi_boost.xml");
assert(ifs.good());
boost::archive::xml_iarchive ia(ifs);

// restore the schedule from the archive
ia >> BOOST_SERIALIZATION_NVP(nev);
}
}

// Serialize to object which already has data
for (int i = 0; i < 5; ++i)
{
Eigen::VectorXi ev = Eigen::VectorXi::Random(6);

{
std::ofstream os(tesseract_common::getTempPath() + "eigen_vector_xi_boost.xml");
boost::archive::xml_oarchive oa(os);
oa << BOOST_SERIALIZATION_NVP(ev);
}

Eigen::VectorXi nev = Eigen::VectorXi::Random(6);
{
std::ifstream ifs(tesseract_common::getTempPath() + "eigen_vector_xi_boost.xml");
assert(ifs.good());
boost::archive::xml_iarchive ia(ifs);

// restore the schedule from the archive
ia >> BOOST_SERIALIZATION_NVP(nev);
}

EXPECT_TRUE(ev == nev);
}

// Serialize to object which already has data and different size
for (int i = 0; i < 5; ++i)
{
Eigen::VectorXi ev = Eigen::VectorXi::Random(6);

{
std::ofstream os(tesseract_common::getTempPath() + "eigen_vector_xi_boost.xml");
boost::archive::xml_oarchive oa(os);
oa << BOOST_SERIALIZATION_NVP(ev);
}

Eigen::VectorXi nev = Eigen::VectorXi::Random(3);
{
std::ifstream ifs(tesseract_common::getTempPath() + "eigen_vector_xi_boost.xml");
assert(ifs.good());
boost::archive::xml_iarchive ia(ifs);

// restore the schedule from the archive
ia >> BOOST_SERIALIZATION_NVP(nev);
}

EXPECT_TRUE(ev == nev);
}

// Default use case
for (int i = 0; i < 5; ++i)
{
Eigen::VectorXi ev = Eigen::VectorXi::Random(6);

{
std::ofstream os(tesseract_common::getTempPath() + "eigen_vector_xi_boost.xml");
boost::archive::xml_oarchive oa(os);
oa << BOOST_SERIALIZATION_NVP(ev);
}

Eigen::VectorXi nev;
{
std::ifstream ifs(tesseract_common::getTempPath() + "eigen_vector_xi_boost.xml");
assert(ifs.good());
boost::archive::xml_iarchive ia(ifs);

// restore the schedule from the archive
ia >> BOOST_SERIALIZATION_NVP(nev);
}

EXPECT_TRUE(ev == nev);
}
}

TEST(TesseractCommonSerializeUnit, Vector3d) // NOLINT
{
{ // Serialize empty object
Eigen::Vector3d ev;
{
std::ofstream os(tesseract_common::getTempPath() + "eigen_vector_3d_boost.xml");
boost::archive::xml_oarchive oa(os);
oa << BOOST_SERIALIZATION_NVP(ev);
}

Eigen::Vector3d nev;
{
std::ifstream ifs(tesseract_common::getTempPath() + "eigen_vector_3d_boost.xml");
assert(ifs.good());
boost::archive::xml_iarchive ia(ifs);

// restore the schedule from the archive
ia >> BOOST_SERIALIZATION_NVP(nev);
}
}

// Serialize to object which already has data
for (int i = 0; i < 3; ++i)
{
Eigen::Vector3d ev = Eigen::Vector3d::Random();

{
std::ofstream os(tesseract_common::getTempPath() + "eigen_vector_3d_boost.xml");
boost::archive::xml_oarchive oa(os);
oa << BOOST_SERIALIZATION_NVP(ev);
}

Eigen::Vector3d nev = Eigen::Vector3d::Random();
{
std::ifstream ifs(tesseract_common::getTempPath() + "eigen_vector_3d_boost.xml");
assert(ifs.good());
boost::archive::xml_iarchive ia(ifs);

// restore the schedule from the archive
ia >> BOOST_SERIALIZATION_NVP(nev);
}

EXPECT_TRUE(ev.isApprox(nev, 1e-5));
}

// Default use case
for (int i = 0; i < 3; ++i)
{
Eigen::Vector3d ev = Eigen::Vector3d::Random();

{
std::ofstream os(tesseract_common::getTempPath() + "eigen_vector_3d_boost.xml");
boost::archive::xml_oarchive oa(os);
oa << BOOST_SERIALIZATION_NVP(ev);
}

Eigen::Vector3d nev;
{
std::ifstream ifs(tesseract_common::getTempPath() + "eigen_vector_3d_boost.xml");
assert(ifs.good());
boost::archive::xml_iarchive ia(ifs);

// restore the schedule from the archive
ia >> BOOST_SERIALIZATION_NVP(nev);
}

EXPECT_TRUE(ev.isApprox(nev, 1e-5));
}
}

TEST(TesseractCommonSerializeUnit, Vector4d) // NOLINT
{
{ // Serialize empty object
Eigen::Vector4d ev;
{
std::ofstream os(tesseract_common::getTempPath() + "eigen_vector_4d_boost.xml");
boost::archive::xml_oarchive oa(os);
oa << BOOST_SERIALIZATION_NVP(ev);
}

Eigen::Vector4d nev;
{
std::ifstream ifs(tesseract_common::getTempPath() + "eigen_vector_4d_boost.xml");
assert(ifs.good());
boost::archive::xml_iarchive ia(ifs);

// restore the schedule from the archive
ia >> BOOST_SERIALIZATION_NVP(nev);
}
}

// Serialize to object which already has data
for (int i = 0; i < 4; ++i)
{
Eigen::Vector4d ev = Eigen::Vector4d::Random();

{
std::ofstream os(tesseract_common::getTempPath() + "eigen_vector_4d_boost.xml");
boost::archive::xml_oarchive oa(os);
oa << BOOST_SERIALIZATION_NVP(ev);
}

Eigen::Vector4d nev = Eigen::Vector4d::Random();
{
std::ifstream ifs(tesseract_common::getTempPath() + "eigen_vector_4d_boost.xml");
assert(ifs.good());
boost::archive::xml_iarchive ia(ifs);

// restore the schedule from the archive
ia >> BOOST_SERIALIZATION_NVP(nev);
}

EXPECT_TRUE(ev.isApprox(nev, 1e-5));
}

// Default use case
for (int i = 0; i < 4; ++i)
{
Eigen::Vector4d ev = Eigen::Vector4d::Random();

{
std::ofstream os(tesseract_common::getTempPath() + "eigen_vector_4d_boost.xml");
boost::archive::xml_oarchive oa(os);
oa << BOOST_SERIALIZATION_NVP(ev);
}

Eigen::Vector4d nev;
{
std::ifstream ifs(tesseract_common::getTempPath() + "eigen_vector_4d_boost.xml");
assert(ifs.good());
boost::archive::xml_iarchive ia(ifs);

// restore the schedule from the archive
ia >> BOOST_SERIALIZATION_NVP(nev);
}

EXPECT_TRUE(ev.isApprox(nev, 1e-5));
}
}

TEST(TesseractCommonSerializeUnit, MatrixX2d) // NOLINT
{
{ // Serialize empty
Expand Down
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