As suggested in issue #29 by @simonschmeisser , compare forward kinematics calculated by MoveIt with opw_kinematics. This serves as a basic validation step for the geometric parameters loaded from kinematics.yaml.
Some things I came accros during implementing this.
The fanuc parameters where wrong, but the current tests did not catch this :s
The file moveit_opw_kinematics.cpp is over 600 lines, maybe factor out some stuff in a header file?
There is also some code duplication in the comparePoses function, but it's not entirely the same as the one in test_util.h so I think this is ok.
It would also be nice to add a test that load wrong parameters on purpose and checks if the error is show. I don’t know how to do this with the rostest framework yet.
[edit] I added a basic test that just check whether initialization failed as expected.
(A lot of test files for a tiny amount of testing...)
I should create a separate pull request for the kinetic-devel branch due to the Affine3d-Isometry3d different.
As suggested in issue #29 by @simonschmeisser , compare forward kinematics calculated by MoveIt with opw_kinematics. This serves as a basic validation step for the geometric parameters loaded from kinematics.yaml.
Some things I came accros during implementing this.
moveit_opw_kinematics.cppis over 600 lines, maybe factor out some stuff in a header file?There is also some code duplication in the
comparePosesfunction, but it's not entirely the same as the one intest_util.hso I think this is ok.It would also be nice to add a test that load wrong parameters on purpose and checks if the error is show. I don’t know how to do this with the rostest framework yet.
I should create a separate pull request for the
kinetic-develbranch due to the Affine3d-Isometry3d different.