Merge branch 'fix-tests' of dr/dr_kdl into master

fizyr · Oct 30, 2017 · 407852c · 407852c
2 parents 9f52a2d + 08bd410
commit 407852c
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Showing 4 changed files with 17 additions and 17 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -39,10 +39,13 @@ target_link_libraries(${PROJECT_NAME}
 )
 
 if (CATKIN_ENABLE_TESTING)
+	find_package(dr_eigen REQUIRED)
+	include_directories(SYSTEM ${dr_eigen_INCLUDE_DIRS})
+
 	catkin_add_gtest(${PROJECT_NAME}_test_kdl   test/kdl.cpp)
 	catkin_add_gtest(${PROJECT_NAME}_test_eigen test/eigen.cpp)
-	target_link_libraries(${PROJECT_NAME}_test_kdl   ${PROJECT_NAME} ${catkin_LIBRARIES})
-	target_link_libraries(${PROJECT_NAME}_test_eigen ${PROJECT_NAME} ${catkin_LIBRARIES})
+	target_link_libraries(${PROJECT_NAME}_test_kdl   ${PROJECT_NAME} ${catkin_LIBRARIES} ${dr_eigen_LIBRARIES})
+	target_link_libraries(${PROJECT_NAME}_test_eigen ${PROJECT_NAME} ${catkin_LIBRARIES} ${dr_eigen_LIBRARIES})
 endif()
 
 install(

diff --git a/package.xml b/package.xml
@@ -13,4 +13,5 @@
 	<depend>kdl_parser</depend>
 	<depend>orocos_kdl</depend>
 	<depend>sensor_msgs</depend>
+	<test_depend>dr_eigen</test_depend>
 </package>
diff --git a/test/eigen.cpp b/test/eigen.cpp
@@ -14,7 +14,7 @@ int main(int argc, char * * argv) {
 namespace dr {
 
 std::string toString(Eigen::Vector3d const & q) {
-	return "[" + std::to_string(q.w())  + ", " + std::to_string(q.x()) + ", " + std::to_string(q.y()) + ", " + std::to_string(q.z()) + "]";
+	return "[" + std::to_string(q.x()) + ", " + std::to_string(q.y()) + ", " + std::to_string(q.z()) + "]";
 }
 
 std::string toString(Eigen::Quaterniond const & q) {

diff --git a/test/kdl.cpp b/test/kdl.cpp
@@ -13,30 +13,26 @@ int main(int argc, char * * argv) {
 
 namespace dr {
 
-namespace {
-	constexpr double pi() { return M_PI; }
-}
-
 TEST(KdlTree, pose) {
 	KdlTree kdl;
 	kdl.addSegment(KDL::Segment("arm", KDL::Joint("joint", KDL::Joint::RotZ), KDL::Frame(KDL::Rotation::Identity(), KDL::Vector(1, 0, 0))), "root");
 
-	ASSERT_TRUE(kdl.pose("root", "arm", {{"joint", 0.0 * pi()}}).isApprox(translate(1, 0, 0)  * rotateZ(0.0 * pi())));
-	ASSERT_TRUE(kdl.pose("root", "arm", {{"joint", 0.5 * pi()}}).isApprox(translate(0, 1, 0)  * rotateZ(0.5 * pi())));
-	ASSERT_TRUE(kdl.pose("root", "arm", {{"joint", 1.0 * pi()}}).isApprox(translate(-1, 0, 0) * rotateZ(1.0 * pi())));
-	ASSERT_TRUE(kdl.pose("root", "arm", {{"joint", 1.5 * pi()}}).isApprox(translate(0, -1, 0) * rotateZ(1.5 * pi())));
-	ASSERT_TRUE(kdl.pose("root", "arm", {{"joint", 2.0 * pi()}}).isApprox(translate(1, 0, 0)  * rotateZ(0.0 * pi())));
+	ASSERT_TRUE(kdl.pose("root", "arm", {{"joint", 0.0 * M_PI}}).isApprox(translate(1, 0, 0)  * rotateZ(0.0 * M_PI)));
+	ASSERT_TRUE(kdl.pose("root", "arm", {{"joint", 0.5 * M_PI}}).isApprox(translate(0, 1, 0)  * rotateZ(0.5 * M_PI)));
+	ASSERT_TRUE(kdl.pose("root", "arm", {{"joint", 1.0 * M_PI}}).isApprox(translate(-1, 0, 0) * rotateZ(1.0 * M_PI)));
+	ASSERT_TRUE(kdl.pose("root", "arm", {{"joint", 1.5 * M_PI}}).isApprox(translate(0, -1, 0) * rotateZ(1.5 * M_PI)));
+	ASSERT_TRUE(kdl.pose("root", "arm", {{"joint", 2.0 * M_PI}}).isApprox(translate(1, 0, 0)  * rotateZ(0.0 * M_PI)));
 }
 
 TEST(KdlTree, transform) {
 	KdlTree kdl;
 	kdl.addSegment(KDL::Segment("arm", KDL::Joint("joint", KDL::Joint::RotZ), KDL::Frame(KDL::Rotation::Identity(), KDL::Vector(1, 0, 0))), "root");
 
-	ASSERT_TRUE(kdl.transform("arm", "root", {{"joint", 0.0 * pi()}}).isApprox(translate(1, 0, 0)  * rotateZ(0.0 * pi())));
-	ASSERT_TRUE(kdl.transform("arm", "root", {{"joint", 0.5 * pi()}}).isApprox(translate(0, 1, 0)  * rotateZ(0.5 * pi())));
-	ASSERT_TRUE(kdl.transform("arm", "root", {{"joint", 1.0 * pi()}}).isApprox(translate(-1, 0, 0) * rotateZ(1.0 * pi())));
-	ASSERT_TRUE(kdl.transform("arm", "root", {{"joint", 1.5 * pi()}}).isApprox(translate(0, -1, 0) * rotateZ(1.5 * pi())));
-	ASSERT_TRUE(kdl.transform("arm", "root", {{"joint", 2.0 * pi()}}).isApprox(translate(1, 0, 0)  * rotateZ(0.0 * pi())));
+	ASSERT_TRUE(kdl.transform("arm", "root", {{"joint", 0.0 * M_PI}}).isApprox(translate(1, 0, 0)  * rotateZ(0.0 * M_PI)));
+	ASSERT_TRUE(kdl.transform("arm", "root", {{"joint", 0.5 * M_PI}}).isApprox(translate(0, 1, 0)  * rotateZ(0.5 * M_PI)));
+	ASSERT_TRUE(kdl.transform("arm", "root", {{"joint", 1.0 * M_PI}}).isApprox(translate(-1, 0, 0) * rotateZ(1.0 * M_PI)));
+	ASSERT_TRUE(kdl.transform("arm", "root", {{"joint", 1.5 * M_PI}}).isApprox(translate(0, -1, 0) * rotateZ(1.5 * M_PI)));
+	ASSERT_TRUE(kdl.transform("arm", "root", {{"joint", 2.0 * M_PI}}).isApprox(translate(1, 0, 0)  * rotateZ(0.0 * M_PI)));
 }
 
 }