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RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library
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Create a unit test for `sns_ik_math_utils` #71

Closed MatthewPeterKelly closed 6 years ago

MatthewPeterKelly commented 6 years ago

The core math library for the SNS-IK solver is undocumented and has no unit tests. This makes it very risky to modify the code, as there is no way to ensure that a new code change does not introduce a bug.

This ticket has two parts: 1) Add documentation to the sns_ik_math_utils header file so that it is clear what each function is supposed to do. 2) Add a unit test for each function to verify that the documentation is correct.

The work for this ticket should not modify the source code or the behavior of the existing code in any way. It is to provide a diagnostic tool to ensure that future code changes to not break things.

The tests should be implemented using the google unit test framework, as described here: unit testing in ROS

MatthewPeterKelly commented 6 years ago

Development work ongoing: https://github.com/MatthewPeterKelly/sns_ik/tree/mpk_unitTest