Add tests with non-default actuatordata

Author: bmagyar

transmission_interface/CMakeLists.txt

@@ -105,6 +105,9 @@ if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(transmission_interface_test test/transmission_interface_test.cpp)
   target_link_libraries(transmission_interface_test ${TinyXML_LIBRARIES} ${catkin_LIBRARIES})
 
+  catkin_add_gtest(transmission_interface_variable_test test/transmission_interface_variable_test.cpp)
+  target_link_libraries(transmission_interface_variable_test ${TinyXML_LIBRARIES} ${catkin_LIBRARIES})
+
   catkin_add_gtest(transmission_parser_test test/transmission_parser_test.cpp)
   target_link_libraries(transmission_parser_test ${PROJECT_NAME}_parser ${catkin_LIBRARIES})
 

transmission_interface/test/transmission_interface_variable_test.cpp

@@ -0,0 +1,102 @@
+#include <gmock/gmock.h>
+#include <string>
+#include <transmission_interface/simple_transmission.h>
+#include <transmission_interface/transmission_interface.h>
+#include <vector>
+
+using std::vector;
+using std::string;
+using namespace transmission_interface;
+
+// Floating-point value comparison threshold
+const double EPS = 1e-6;
+
+class PositionOnlyActuatorData :public ActuatorDataContainer<PositionActuatorData>
+{
+public:
+    bool empty() const override
+    {
+        return position.empty();
+    }
+
+    bool hasSize(std::size_t size) const override
+    {
+        return (not empty() and position.size() == size);
+    }
+
+    bool valid() const override
+    {
+        return hasValidPointers(position);
+    }
+};
+
+class DummyHandle : public TransmissionHandle<PositionOnlyActuatorData>
+{
+public:
+  DummyHandle(const std::string&  name,
+              Transmission*       transmission,
+              const PositionOnlyActuatorData& actuator_data,
+              const JointData&    joint_data)
+    : TransmissionHandle(name, transmission, actuator_data, joint_data) {}
+};
+
+// TEST(HandlePreconditionsTest, ValidHandle)
+// {
+//   double val = 0.0;
+//   vector<double*> good_vec(1, &val);
+//   SimpleTransmission trans(1.0);
+
+//   {
+//     ActuatorData a_data;
+//     JointData    j_data;
+//     a_data.position = good_vec;
+//     EXPECT_NO_THROW(DummyHandle("trans", &trans, a_data, j_data));
+//   }
+//   {
+//     ActuatorData a_data;
+//     JointData    j_data;
+//     a_data.velocity = good_vec;
+//     EXPECT_NO_THROW(DummyHandle("trans", &trans, a_data, j_data));
+//   }
+//   {
+//     ActuatorData a_data;
+//     JointData    j_data;
+//     a_data.effort = good_vec;
+//     EXPECT_NO_THROW(DummyHandle("trans", &trans, a_data, j_data));
+//   }
+//   {
+//     ActuatorData a_data;
+//     JointData    j_data;
+//     j_data.position = good_vec;
+//     EXPECT_NO_THROW(DummyHandle("trans", &trans, a_data, j_data));
+//   }
+//   {
+//     ActuatorData a_data;
+//     JointData    j_data;
+//     j_data.velocity = good_vec;
+//     EXPECT_NO_THROW(DummyHandle("trans", &trans, a_data, j_data));
+//   }
+//   {
+//     ActuatorData a_data;
+//     JointData    j_data;
+//     j_data.effort = good_vec;
+//     EXPECT_NO_THROW(DummyHandle("trans", &trans, a_data, j_data));
+//   }
+//   {
+//     ActuatorData a_data;
+//     JointData    j_data;
+//     a_data.position = good_vec;
+//     a_data.velocity = good_vec;
+//     a_data.effort   = good_vec;
+//     j_data.position = good_vec;
+//     j_data.velocity = good_vec;
+//     j_data.effort   = good_vec;
+//     EXPECT_NO_THROW(DummyHandle("trans", &trans, a_data, j_data));
+//   }
+// }
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}