diff --git a/src/testappm.cpp b/src/testappm.cpp
index 06edc6c8671a7f9e4e3bf628b3c5c8e4603251bc..24a8853d885aa2fa972a638221ccc501177329b9 100644
--- a/src/testappm.cpp
+++ b/src/testappm.cpp
@@ -24,9 +24,8 @@
#include "geometry_msgs/PointStamped.h"
#include <tf2_ros/transform_broadcaster.h>
#include <tf2/LinearMath/Quaternion.h>
-
-
-
+#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
int main(int argc, char** argv) {
ros::init(argc, argv, "TestNode");
ros::NodeHandle node_handle("namespace_name");
@@ -34,18 +33,12 @@ int main(int argc, char** argv) {
spinner.start();
ROS_INFO("Welcome to Test Code");
- static const std::string PLANNING_GROUP = "panda_arm";
- moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
- moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
-
- ros::Duration(3.0).sleep();
-
- abstractobject o1;
+ abstractobject o1;
graspobject o2;
hand o3;
humanspace o4;
-/*
+
joint o5a;
joint o5b;
joint o5c;
@@ -53,38 +46,37 @@ int main(int argc, char** argv) {
joint o5e;
joint o5f;
joint o5g;
-*/
+
obstacle o6;
robot o7;
robotfpe o8;
world o9;
worldobject o10;
- int yx=0;
- o7.jo[++yx]->name= "panda_link1";
- o7.jo[++yx]->name= "panda_link2";
- o7.jo[++yx]->name= "panda_link3";
- o7.jo[++yx]->name= "panda_link4";
- o7.jo[++yx]->name= "panda_link5";
- o7.jo[++yx]->name= "panda_link6";
- o7.jo[++yx]->name= "panda_link7";
+ o7.jo.push_back(o5a);
+ o7.jo.push_back(o5b);
+ o7.jo.push_back(o5c);
+ o7.jo.push_back(o5d);
+ o7.jo.push_back(o5e);
+ o7.jo.push_back(o5f);
+ o7.jo.push_back(o5g);
+
+ // test if the robot contains 7 joints
+ if (o7.jo.size() == 5) {
+ ROS_INFO("SIZE IS 5");
+ } else {
+ ROS_INFO_STREAM("SIZE IS NOT 5 but was " << o7.jo.size());
+ }
- /* o7.jo1->or2= {1.2,5.3,6.5,7.4};
- o7.jo2->or2= {2.5,3.6,5.8,4.9};
- o7.jo3->or2= {5.1,1.2,9.9,6.8};
- o7.jo4->or2= {6.3,3.4,8.5,9.6};
- o7.jo5->or2= {8.2,2.6,7.9,5.5};
- o7.jo6->or2= {7.3,4.4,6.7,4.0};
- o7.jo7->or2= {7.3,4.4,6.7,4.0};
+ int yx=0;
+ o7.jo[++yx].name= "panda_link1";
+ o7.jo[++yx].name= "panda_link2";
+ o7.jo[++yx].name= "panda_link3";
+ o7.jo[++yx].name= "panda_link4";
+ o7.jo[++yx].name= "panda_link5";
+ o7.jo[++yx].name= "panda_link6";
+ o7.jo[++yx].name= "panda_link7";
- o7.jo1->p1= {1.3, 10.1, 9.4};
- o7.jo2->p1= {14.7, 11.3, 6.5};
- o7.jo3->p1= {4.9, 13.8, 7.7};
- o7.jo4->p1= {2.4, 12.5, 1.6};
- o7.jo5->p1= {3.1, 16.2, 5.3};
- o7.jo6->p1= {11.5, 15.4, 3.4};
- o7.jo7->p1= {5.1, 18.3, 4.2};
-*/
o9.c->robname="Robot FPE";
o9.c->of=true;
o9.c->moving=false;
@@ -114,171 +106,40 @@ int main(int argc, char** argv) {
tf2_ros::TransformListener tfListener(tfBuffer);
ros::Rate rate(10);
- int i=1;
- int h=1;
+ int i=0;
+ int ho=0;
while (node_handle.ok()) {
- //for (const auto &topic : ROSNODE1::topics)
{
geometry_msgs::TransformStamped transformStamped[7];
-
- try { transformStamped[i++] = tfBuffer.lookupTransform("world", o7.jo[h++]->name, ros::Time(0));
- } catch (tf2::TransformException &ex) {
+ try {
+ transformStamped[++i] = tfBuffer.lookupTransform("world", o7.jo[++ho].name, ros::Time(0));
+ }
+ catch (tf2::TransformException &ex) {
ROS_WARN("%s", ex.what());
ros::Duration(0.1).sleep();
continue;
}
- if(h==7)
- ROS_INFO(" TEST CASE SUCCESSFUL. ROBOT FPE HAS 7 JOINTS ");
+ if(ho==7)
+ ROS_INFO_STREAM(" TEST CASE SUCCESSFUL. ROBOT FPE HAS 7 JOINTS ");
else
- ROS_ERROR(" TEST CASE NOT SUCCESSFUL. ROBOT FPE HAS WRONG NUMBER OF JOINTS ");
+ ROS_ERROR_STREAM(" TEST CASE FAILED. ROBOT FPE HAS WRONG NUMBER OF JOINTS = "<<ho);
- // TEST CASES FOR ALL AGGREGATION RELATIONS POINTERS
- if(o7.jo[1]||o7.jo[2]||o7.jo[3]||o7.jo[4]||o7.jo[5]||o7.jo[6]||o7.jo[7]== nullptr)
- ROS_ERROR("ERROR IN JOINTS POINTER AGGREGATION RELATIONSHIP");
if(o8.h==nullptr)
ROS_ERROR("ERROR IN HAND POINTER IN ROBOT FPE CLASS AGGREGATION RELATION");
+
if(o9.a== nullptr)
- ROS_ERROR("ERROR IN POINTER HUMANSPACE AGGREGATION");
+ ROS_ERROR("ERROR IN POINTER WORLD HUMANSPACE AGGREGATION");
+
if(o9.c== nullptr)
ROS_ERROR("ERROR IN ROBOT CLASS AGGREGATION");
+
if(o9.b1== nullptr)
ROS_ERROR("ERROR IN ABSTRACT OBJECT CLASS AGGREGATION RELATION");
+
if(o9.b2== nullptr)
ROS_ERROR("ERROR IN ABSTRACT OBJECT CLASS AGGREGATION RELATION");
-
-
-/* o7.jo1->p1[0]=0.0;
- o7.jo1->p1[1]=0.0;
- o7.jo1->p1[2]=0.0;
- o7.jo2->p1[0]=0.0;
- o7.jo2->p1[1]=0.0;
- o7.jo2->p1[2]=0.0;
- o7.jo3->p1[0]=0.0;
- o7.jo3->p1[1]=0.0;
- o7.jo3->p1[2]=0.0;
- o7.jo4->p1[0]=0.0;
- o7.jo4->p1[1]=0.0;
- o7.jo4->p1[2]=0.0;
- o7.jo5->p1[0]=0.0;
- o7.jo5->p1[1]=0.0;
- o7.jo5->p1[2]=0.0;
- o7.jo6->p1[0]=0.0;
- o7.jo6->p1[1]=0.0;
- o7.jo6->p1[2]=0.0;
- o7.jo7->p1[0]=0.0;
- o7.jo7->p1[1]=0.0;
- o7.jo7->p1[2]=0.0;
-
- o7.jo1->p1[0]=transformStamped1.transform.translation.x;
- o7.jo1->p1[1]=transformStamped1.transform.translation.y;
- o7.jo1->p1[2]=transformStamped1.transform.translation.z;
- ROS_INFO_STREAM("panda_link1 Position is " <<" x = "<< o7.jo1->p1[0] << ", y = "<< o7.jo1->p1[1]<<", z = "<<o7.jo1->p1[2]);
-
- o7.jo2->p1[0]=transformStamped2.transform.translation.x;
- o7.jo2->p1[1]=transformStamped2.transform.translation.y;
- o7.jo2->p1[2]=transformStamped2.transform.translation.z;
- ROS_INFO_STREAM("panda_link2 Position is " <<" x = "<< o7.jo2->p1[0] << ", y = "<< o7.jo2->p1[1]<<", z = "<<o7.jo2->p1[2]);
-
- o7.jo3->p1[0]=transformStamped3.transform.translation.x;
- o7.jo3->p1[1]=transformStamped3.transform.translation.y;
- o7.jo3->p1[2]=transformStamped3.transform.translation.z;
- ROS_INFO_STREAM("panda_link3 Position is " <<" x = "<< o7.jo3->p1[0] << ", y = "<< o7.jo3->p1[1]<<", z = "<<o7.jo3->p1[2]);
-
- o7.jo4->p1[0]=transformStamped4.transform.translation.x;
- o7.jo4->p1[1]=transformStamped4.transform.translation.y;
- o7.jo4->p1[2]=transformStamped4.transform.translation.z;
- ROS_INFO_STREAM("panda_link4 Position is " <<" x = "<< o7.jo4->p1[0] << ", y = "<< o7.jo4->p1[1]<<", z = "<<o7.jo4->p1[2]);
-
- o7.jo5->p1[0]=transformStamped5.transform.translation.x;
- o7.jo5->p1[1]=transformStamped5.transform.translation.y;
- o7.jo5->p1[2]=transformStamped5.transform.translation.z;
- ROS_INFO_STREAM("panda_link5 Position is " <<" x = "<< o7.jo5->p1[0] << ", y = "<< o7.jo5->p1[1]<<", z = "<<o7.jo5->p1[2]);
-
- o7.jo6->p1[0]=transformStamped6.transform.translation.x;
- o7.jo6->p1[1]=transformStamped6.transform.translation.y;
- o7.jo6->p1[2]=transformStamped6.transform.translation.z;
- ROS_INFO_STREAM("panda_link6 Position is " <<" x = "<< o7.jo6->p1[0] << ", y = "<< o7.jo6->p1[1]<<", z = "<<o7.jo6->p1[2]);
-
- o7.jo7->p1[0]=transformStamped7.transform.translation.x;
- o7.jo7->p1[0]=transformStamped7.transform.translation.y;
- o7.jo7->p1[0]=transformStamped7.transform.translation.z;
- ROS_INFO_STREAM("panda_link7 Position is " <<" x = "<< o7.jo7->p1[0] << ", y = "<< o7.jo7->p1[1]<<", z = "<<o7.jo7->p1[2]);
-
- o7.jo1->or2.w=0.0;
- o7.jo1->or2.x=0.0;
- o7.jo1->or2.y=0.0;
- o7.jo1->or2.z=0.0;
- o7.jo2->or2.w=0.0;
- o7.jo2->or2.x=0.0;
- o7.jo2->or2.y=0.0;
- o7.jo2->or2.z=0.0;
- o7.jo3->or2.w=0.0;
- o7.jo3->or2.x=0.0;
- o7.jo3->or2.y=0.0;
- o7.jo3->or2.z=0.0;
- o7.jo4->or2.w=0.0;
- o7.jo4->or2.x=0.0;
- o7.jo4->or2.y=0.0;
- o7.jo4->or2.z=0.0;
- o7.jo5->or2.w=0.0;
- o7.jo5->or2.x=0.0;
- o7.jo5->or2.y=0.0;
- o7.jo5->or2.z=0.0;
- o7.jo6->or2.w=0.0;
- o7.jo6->or2.x=0.0;
- o7.jo6->or2.y=0.0;
- o7.jo6->or2.z=0.0;
- o7.jo7->or2.w=0.0;
- o7.jo7->or2.x=0.0;
- o7.jo7->or2.y=0.0;
- o7.jo7->or2.z=0.0;
-
- o7.jo1->or2.w=transformStamped1.transform.rotation.w;
- o7.jo1->or2.x=transformStamped1.transform.rotation.x;
- o7.jo1->or2.y=transformStamped1.transform.rotation.y;
- o7.jo1->or2.z=transformStamped1.transform.rotation.z;
- ROS_INFO_STREAM("panda_link1 Orientation is " <<" w = "<< o7.jo1->or2.w<<", x = "<<o7.jo1->or2.x<<", y = "<<o7.jo1->or2.y<<", z = "<<o7.jo1->or2.z);
-
- o7.jo2->or2.w=transformStamped2.transform.rotation.w;
- o7.jo2->or2.x=transformStamped2.transform.rotation.x;
- o7.jo2->or2.y=transformStamped2.transform.rotation.y;
- o7.jo2->or2.z=transformStamped2.transform.rotation.z;
- ROS_INFO_STREAM("panda_link2 Orientation is " <<" w = "<< o7.jo2->or2.w<<", x = "<< o7.jo2->or2.x<<", y = "<< o7.jo2->or2.y<<", z = "<< o7.jo2->or2.z);
-
- o7.jo3->or2.w=transformStamped3.transform.rotation.w;
- o7.jo3->or2.x=transformStamped3.transform.rotation.x;
- o7.jo3->or2.y=transformStamped3.transform.rotation.y;
- o7.jo3->or2.z=transformStamped3.transform.rotation.z;
- ROS_INFO_STREAM("panda_link3 Orientation is " <<" w = "<< o7.jo3->or2.w<<", x = "<<o7.jo3->or2.x<<", y = "<<o7.jo3->or2.y<<", z = "<<o7.jo3->or2.z);
-
- o7.jo4->or2.w=transformStamped4.transform.rotation.w;
- o7.jo4->or2.x=transformStamped4.transform.rotation.x;
- o7.jo4->or2.y=transformStamped4.transform.rotation.y;
- o7.jo4->or2.z=transformStamped4.transform.rotation.z;
- ROS_INFO_STREAM("panda_link4 Orientation is " <<" w = "<<o7.jo4->or2.w<<", x = "<<o7.jo4->or2.x<<", y = "<<o7.jo4->or2.y<<", z = "<<o7.jo4->or2.z);
-
- o7.jo5->or2.w=transformStamped5.transform.rotation.w;
- o7.jo5->or2.x=transformStamped5.transform.rotation.x;
- o7.jo5->or2.y=transformStamped5.transform.rotation.y;
- o7.jo5->or2.z=transformStamped5.transform.rotation.z;
- ROS_INFO_STREAM("panda_link5 Orientation is " <<" w = "<< o7.jo5->or2.w<<", x = "<<o7.jo5->or2.x<<", y = "<<o7.jo5->or2.y<<", z = "<<o7.jo5->or2.z);
-
- o7.jo6->or2.w=transformStamped6.transform.rotation.w;
- o7.jo6->or2.x=transformStamped6.transform.rotation.x;
- o7.jo6->or2.y=transformStamped6.transform.rotation.y;
- o7.jo6->or2.z=transformStamped6.transform.rotation.z;
- ROS_INFO_STREAM("panda_link6 Orientation is " <<" w = "<< o7.jo6->or2.w<<", x = "<<o7.jo6->or2.x<<", y = "<<o7.jo6->or2.y<<", z = "<<o7.jo6->or2.z);
-
- o7.jo7->or2.w=transformStamped7.transform.rotation.w;
- o7.jo7->or2.x=transformStamped7.transform.rotation.x;
- o7.jo7->or2.y=transformStamped7.transform.rotation.y;
- o7.jo7->or2.z=transformStamped7.transform.rotation.z;
- ROS_INFO_STREAM("panda_link7 Orientation is " <<" w = "<<o7.jo7->or2.w<<", x = "<<o7.jo7->or2.x<<", y = "<<o7.jo7->or2.y<<", z = "<<o7.jo7->or2.z);
-*/
- }
+ }
rate.sleep();
}
-
-
return 0;
}
\ No newline at end of file