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Update online planning example and toJointTrajectory to leverage trajectory uuid #526

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Oct 31, 2024
Merged

Update online planning example and toJointTrajectory to leverage trajectory uuid #526

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fe7f932
Update online planning example and toJointTrajectory to leverage traj…
Levi-Armstrong Oct 30, 2024
f45bbd4
Update to leverage clang-format-12
Levi-Armstrong Oct 30, 2024
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5 changes: 3 additions & 2 deletions .clang-format
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,8 @@ UseTab: Never
BreakBeforeBraces: Custom

# Control of individual brace wrapping cases
BraceWrapping: {
BraceWrapping:
AfterCaseLabel : 'true'
AfterClass: 'true'
AfterControlStatement: 'true'
AfterEnum : 'true'
Expand All @@ -63,5 +64,5 @@ BraceWrapping: {
BeforeCatch : 'true'
BeforeElse : 'true'
IndentBraces : 'false'
}

...
5 changes: 3 additions & 2 deletions .github/workflows/clang_format.yml
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Expand Up @@ -10,16 +10,17 @@ on:

jobs:
clang_format:
runs-on: ubuntu-20.04
runs-on: ubuntu-22.04
steps:
- uses: actions/checkout@v1

- name: Run clang format
run: |
sudo apt update
sudo apt install -y git clang-format-8
sudo apt install -y git clang-format-12
if [ $? -ge 1 ]; then return 1; fi
./.run-clang-format
if [ $? -ge 1 ]; then return 1; fi
output=$(git diff)
echo $output
if [ -n "$output" ]; then exit 1; else exit 0; fi
2 changes: 1 addition & 1 deletion .run-clang-format
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@@ -1,2 +1,2 @@
#!/bin/bash
find . -type d \( -name bullet3_ros -o -name fcl_ros -o -name libccd_ros -o -name gtest_ros -o -name tesseract_ext \) -prune -o -type f -regex '.*\.\(cpp\|hpp\|cc\|cxx\|h\|hxx\)' -exec clang-format-8 -style=file -i {} \;
find . -type d \( -name bullet3_ros -o -name fcl_ros -o -name libccd_ros -o -name gtest_ros -o -name tesseract_ext \) -prune -o -type f -regex '.*\.\(cpp\|hpp\|cc\|cxx\|h\|hxx\)' -exec clang-format-12 -style=file -i {} \;
305 changes: 153 additions & 152 deletions ...d_language/include/tesseract_command_language/test_suite/cartesian_waypoint_poly_unit.hpp
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Expand Up @@ -63,168 +63,169 @@ void runCartesianWaypointTest()
EXPECT_FALSE(wp.isToleranced());
}

{ // Set/Get Transform
{ // Test construction providing pose
{ // Set/Get Transform
{ // Test construction providing pose
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
pose.translation() = Eigen::Vector3d(1, 2, 3);
CartesianWaypointPoly wp{ T(pose) };
EXPECT_TRUE(wp.getTransform().isApprox(pose));
EXPECT_FALSE(wp.isToleranced());
}

{ // Test construction providing pose
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
pose.translation() = Eigen::Vector3d(1, 2, 3);
CartesianWaypointPoly wp{ T(pose, Eigen::VectorXd::Constant(3, -5), Eigen::VectorXd::Constant(3, 5)) };
EXPECT_TRUE(wp.getTransform().isApprox(pose));
EXPECT_TRUE(wp.getLowerTolerance().isApprox(Eigen::VectorXd::Constant(3, -5)));
EXPECT_TRUE(wp.getUpperTolerance().isApprox(Eigen::VectorXd::Constant(3, 5)));
EXPECT_TRUE(wp.isToleranced());
}
pose.translation() = Eigen::Vector3d(1, 2, 3);
CartesianWaypointPoly wp{ T(pose) };
EXPECT_TRUE(wp.getTransform().isApprox(pose));
EXPECT_FALSE(wp.isToleranced());
}

{ // Test set pose
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
pose.translation() = Eigen::Vector3d(1, 2, 3);
CartesianWaypointPoly wp{ T() };
wp.setTransform(pose);
EXPECT_TRUE(wp.getTransform().isApprox(pose));
EXPECT_FALSE(wp.isToleranced());
}

{ // Test assigning pose
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
pose.translation() = Eigen::Vector3d(1, 2, 3);
CartesianWaypointPoly wp{ T() };
wp.getTransform() = pose;
EXPECT_TRUE(std::as_const(wp).getTransform().isApprox(pose));
EXPECT_FALSE(wp.isToleranced());
}
} // namespace tesseract_planning::test_suite

{ // Test Set Tolerances
CartesianWaypointPoly wp{ T() };
EXPECT_FALSE(wp.isToleranced());

wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 5));
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, -5));
EXPECT_TRUE(wp.isToleranced());
{ // Test construction providing pose
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
pose.translation() = Eigen::Vector3d(1, 2, 3);
CartesianWaypointPoly wp{ T(pose, Eigen::VectorXd::Constant(3, -5), Eigen::VectorXd::Constant(3, 5)) };
EXPECT_TRUE(wp.getTransform().isApprox(pose));
EXPECT_TRUE(wp.getLowerTolerance().isApprox(Eigen::VectorXd::Constant(3, -5)));
EXPECT_TRUE(wp.getUpperTolerance().isApprox(Eigen::VectorXd::Constant(3, 5)));
EXPECT_TRUE(wp.isToleranced());
}

{ // Test set pose
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
pose.translation() = Eigen::Vector3d(1, 2, 3);
CartesianWaypointPoly wp{ T() };
wp.setTransform(pose);
EXPECT_TRUE(wp.getTransform().isApprox(pose));
EXPECT_FALSE(wp.isToleranced());
}

{ // Test assigning pose
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
pose.translation() = Eigen::Vector3d(1, 2, 3);
CartesianWaypointPoly wp{ T() };
wp.getTransform() = pose;
EXPECT_TRUE(std::as_const(wp).getTransform().isApprox(pose));
EXPECT_FALSE(wp.isToleranced());
}
} // namespace tesseract_planning::test_suite

{ // Test Set Tolerances
CartesianWaypointPoly wp{ T() };
EXPECT_FALSE(wp.isToleranced());

wp.setUpperTolerance(Eigen::VectorXd::Constant(3, -5));
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, -5));
EXPECT_ANY_THROW(wp.isToleranced()); // NOLINT
wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 5));
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, -5));
EXPECT_TRUE(wp.isToleranced());

wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 5));
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, 5));
EXPECT_ANY_THROW(wp.isToleranced()); // NOLINT
wp.setUpperTolerance(Eigen::VectorXd::Constant(3, -5));
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, -5));
EXPECT_ANY_THROW(wp.isToleranced()); // NOLINT

wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 0));
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, 0));
EXPECT_FALSE(wp.isToleranced());
}
wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 5));
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, 5));
EXPECT_ANY_THROW(wp.isToleranced()); // NOLINT

{ // Test Equality and Serialization
{ CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
CartesianWaypointPoly wp2(wp1); // NOLINT
EXPECT_TRUE(wp1 == wp2);
EXPECT_TRUE(wp2 == wp1);
EXPECT_FALSE(wp2 != wp1);
runWaypointSerializationTest(wp1);
}
{
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
wp1.getTransform().translate(Eigen::Vector3d(1e6, 0, 0));
CartesianWaypointPoly wp2(wp1);
EXPECT_TRUE(wp1 == wp2);
EXPECT_TRUE(wp2 == wp1);
EXPECT_FALSE(wp2 != wp1);
runWaypointSerializationTest(wp1);
}
{
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
wp1.getUpperTolerance().resize(3);
wp1.getUpperTolerance() << 1, 2, 3;
wp1.getLowerTolerance().resize(3);
wp1.getLowerTolerance() << -4, -5, -6;
CartesianWaypointPoly wp2(wp1);
EXPECT_TRUE(wp1 == wp2);
EXPECT_TRUE(wp2 == wp1);
EXPECT_FALSE(wp2 != wp1);
runWaypointSerializationTest(wp1);
}
// Not equal
{
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
CartesianWaypointPoly wp2{ T(Eigen::Isometry3d::Identity()) };
wp2.getTransform().rotate(Eigen::AngleAxisd(M_PI, Eigen::Vector3d(0, 0, 1)));
EXPECT_FALSE(wp1 == wp2);
EXPECT_FALSE(wp2 == wp1);
EXPECT_TRUE(wp2 != wp1);
runWaypointSerializationTest(wp2);
}
{
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
CartesianWaypointPoly wp2{ T(Eigen::Isometry3d::Identity()) };
wp2.getTransform().translate(Eigen::Vector3d(1e6, 0, 0));
EXPECT_FALSE(wp1 == wp2);
EXPECT_FALSE(wp2 == wp1);
EXPECT_TRUE(wp2 != wp1);
runWaypointSerializationTest(wp2);
}
{
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
CartesianWaypointPoly wp2(wp1);
wp2.getUpperTolerance().resize(3);
wp2.getUpperTolerance() << 1, 2, 3;
wp2.getLowerTolerance().resize(3);
wp2.getLowerTolerance() << -4, -5, -6;
EXPECT_FALSE(wp1 == wp2);
EXPECT_FALSE(wp2 == wp1);
EXPECT_TRUE(wp2 != wp1);
runWaypointSerializationTest(wp2);
}
}

{ // Set/Get Seed
tesseract_common::JointState seed_state;
seed_state.joint_names = { "joint_1", "joint_2", "joint_3" };
seed_state.position.resize(3);
seed_state.position << .01, .02, .03;
seed_state.velocity.resize(3);
seed_state.velocity << .1, .2, .3;
seed_state.acceleration.resize(3);
seed_state.acceleration << 1, 2, 3;

{ // Test default construction pose
CartesianWaypointPoly wp{ T() };
EXPECT_FALSE(wp.hasSeed());
EXPECT_FALSE(std::as_const(wp).getSeed() == seed_state);
}

{ // Test assigning pose
CartesianWaypointPoly wp{ T() };
EXPECT_FALSE(wp.hasSeed());
wp.setSeed(seed_state);
EXPECT_TRUE(wp.hasSeed());
EXPECT_TRUE(std::as_const(wp).getSeed() == seed_state);
wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 0));
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, 0));
EXPECT_FALSE(wp.isToleranced());
}

{ // Test assigning pose
CartesianWaypointPoly wp{ T() };
EXPECT_FALSE(wp.hasSeed());
wp.getSeed() = seed_state;
EXPECT_TRUE(wp.hasSeed());
EXPECT_TRUE(std::as_const(wp).getSeed() == seed_state);
{ // Test Equality and Serialization
{
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
CartesianWaypointPoly wp2(wp1); // NOLINT
EXPECT_TRUE(wp1 == wp2);
EXPECT_TRUE(wp2 == wp1);
EXPECT_FALSE(wp2 != wp1);
runWaypointSerializationTest(wp1);
}
{
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
wp1.getTransform().translate(Eigen::Vector3d(1e6, 0, 0));
CartesianWaypointPoly wp2(wp1);
EXPECT_TRUE(wp1 == wp2);
EXPECT_TRUE(wp2 == wp1);
EXPECT_FALSE(wp2 != wp1);
runWaypointSerializationTest(wp1);
}
{
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
wp1.getUpperTolerance().resize(3);
wp1.getUpperTolerance() << 1, 2, 3;
wp1.getLowerTolerance().resize(3);
wp1.getLowerTolerance() << -4, -5, -6;
CartesianWaypointPoly wp2(wp1);
EXPECT_TRUE(wp1 == wp2);
EXPECT_TRUE(wp2 == wp1);
EXPECT_FALSE(wp2 != wp1);
runWaypointSerializationTest(wp1);
}
// Not equal
{
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
CartesianWaypointPoly wp2{ T(Eigen::Isometry3d::Identity()) };
wp2.getTransform().rotate(Eigen::AngleAxisd(M_PI, Eigen::Vector3d(0, 0, 1)));
EXPECT_FALSE(wp1 == wp2);
EXPECT_FALSE(wp2 == wp1);
EXPECT_TRUE(wp2 != wp1);
runWaypointSerializationTest(wp2);
}
{
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
CartesianWaypointPoly wp2{ T(Eigen::Isometry3d::Identity()) };
wp2.getTransform().translate(Eigen::Vector3d(1e6, 0, 0));
EXPECT_FALSE(wp1 == wp2);
EXPECT_FALSE(wp2 == wp1);
EXPECT_TRUE(wp2 != wp1);
runWaypointSerializationTest(wp2);
}
{
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
CartesianWaypointPoly wp2(wp1);
wp2.getUpperTolerance().resize(3);
wp2.getUpperTolerance() << 1, 2, 3;
wp2.getLowerTolerance().resize(3);
wp2.getLowerTolerance() << -4, -5, -6;
EXPECT_FALSE(wp1 == wp2);
EXPECT_FALSE(wp2 == wp1);
EXPECT_TRUE(wp2 != wp1);
runWaypointSerializationTest(wp2);
}
}

{ // Test clear seed
CartesianWaypointPoly wp{ T() };
EXPECT_FALSE(wp.hasSeed());
wp.getSeed() = seed_state;
EXPECT_TRUE(wp.hasSeed());
wp.clearSeed();
EXPECT_FALSE(wp.hasSeed());
{ // Set/Get Seed
tesseract_common::JointState seed_state;
seed_state.joint_names = { "joint_1", "joint_2", "joint_3" };
seed_state.position.resize(3);
seed_state.position << .01, .02, .03;
seed_state.velocity.resize(3);
seed_state.velocity << .1, .2, .3;
seed_state.acceleration.resize(3);
seed_state.acceleration << 1, 2, 3;

{ // Test default construction pose
CartesianWaypointPoly wp{ T() };
EXPECT_FALSE(wp.hasSeed());
EXPECT_FALSE(std::as_const(wp).getSeed() == seed_state);
}

{ // Test assigning pose
CartesianWaypointPoly wp{ T() };
EXPECT_FALSE(wp.hasSeed());
wp.setSeed(seed_state);
EXPECT_TRUE(wp.hasSeed());
EXPECT_TRUE(std::as_const(wp).getSeed() == seed_state);
}

{ // Test assigning pose
CartesianWaypointPoly wp{ T() };
EXPECT_FALSE(wp.hasSeed());
wp.getSeed() = seed_state;
EXPECT_TRUE(wp.hasSeed());
EXPECT_TRUE(std::as_const(wp).getSeed() == seed_state);
}

{ // Test clear seed
CartesianWaypointPoly wp{ T() };
EXPECT_FALSE(wp.hasSeed());
wp.getSeed() = seed_state;
EXPECT_TRUE(wp.hasSeed());
wp.clearSeed();
EXPECT_FALSE(wp.hasSeed());
}
}
}
}
}
} // namespace tesseract_planning::test_suite
#endif // TESSERACT_COMMAND_LANGUAGE_CARTESIAN_WAYPOINT_POLY_UNIT_HPP
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