bool redirectReceived(Resource*,
const ResourceRequest&,
const ResourceResponse&) override {
ADD_FAILURE();
return true;
}
// 直接返回成功 失败
TEST(casename, testname5)
{
SUCCEED();
ADD_FAILURE();
}
TEST(FailureTest, NormalTest) {
ADD_FAILURE() << "sorry dushishuang!";
SUCCEED();
}
TEST(PlanningInterfaceTester, loadAllPlanners)
{
pluginlib::ClassLoader<planning_interface::Planner>* planner_loader;
try
{
planner_loader = new pluginlib::ClassLoader<planning_interface::Planner>("planning_interface", "planning_interface::Planner");
}
catch(pluginlib::PluginlibException& ex)
{
FAIL() << "Exception while creating class loader " << ex.what();
}
std::vector<std::string> classes;
std::vector<boost::shared_ptr<planning_interface::Planner> > planners;
planning_scene::PlanningSceneConstPtr scene = g_psm->getPlanningScene();
planning_models::RobotModelConstPtr model = scene->getRobotModel();
classes = planner_loader->getDeclaredClasses();
// Must have some planners
ASSERT_GT(classes.size(), 0);
printf("Loading classes:\n");
for(std::vector<std::string>::const_iterator it = classes.begin();
it != classes.end();
++it)
printf(" %s\n", it->c_str());
fflush(stdout);
return;
for(std::vector<std::string>::const_iterator it = classes.begin();
it != classes.end();
++it)
{
try
{
boost::shared_ptr<planning_interface::Planner> p(planner_loader->createUnmanagedInstance(*it));
p->init(model);
planners.push_back(p);
}
catch(pluginlib::PluginlibException& ex)
{
// All planners must load
ADD_FAILURE() << "Exception while loading planner: " << *it << ": " << ex.what();
}
}
for(std::vector<boost::shared_ptr<planning_interface::Planner> >::const_iterator it = planners.begin();
it != planners.end();
++it)
{
// A dumb test: require that the planners return true from
// canServiceRequest
moveit_msgs::GetMotionPlan::Request req;
planning_interface::PlannerCapability capabilities;
bool can_service = (*it)->canServiceRequest(req, capabilities);
EXPECT_TRUE(can_service);
// Another dumb test: require that the planners return false from solve
moveit_msgs::GetMotionPlan::Response res;
bool solved = (*it)->solve(scene, req, res);
EXPECT_FALSE(solved);
}
}
TEST(FloatPrecision, Snapshots) {
// Initialise the data path with en empty modulename,
// to get the data from the root of the test data path
cvtest::TS::ptr()->init("");
chilitags::Chilitags3Df chilitagsf;
chilitagsf.getChilitags().setPerformance(chilitags::Chilitags::ROBUST);
chilitagsf.enableFilter(false);
chilitags::Chilitags3Dd chilitagsd;
chilitagsd.getChilitags().setPerformance(chilitags::Chilitags::ROBUST);
chilitagsd.enableFilter(false);
for (auto testCase : TestMetadata::all) {
std::string path = std::string(cvtest::TS::ptr()->get_data_path())+testCase.filename;
cv::Mat image = cv::imread(path);
if(image.data) {
auto tagsd = chilitagsd.estimate(image, chilitags::Chilitags::DETECT_ONLY);
auto tagsf = chilitagsf.estimate(image, chilitags::Chilitags::DETECT_ONLY);
ASSERT_EQ(tagsf.size(), tagsd.size()) <<
"Single precision found " << tagsf.size() <<
" tags while double precision found " << tagsd.size() << " tags in " << testCase.filename;
double diff;
for(const auto& tag : tagsf){
const auto& matf = tag.second;
const auto& matd = tagsd[tag.first];
//Test rotation component
double failThreshold = 1e-5; //TODO: What does this threshold actually mean?
for(int i=0;i<3;i++)
for(int j=0;j<3;j++){
diff = (double)matf(i,j) - matd(i,j);
if(!std::isnan(diff))
ASSERT_LT(diff, failThreshold) <<
tag.first << "'s single and double precision transforms differ more than " << failThreshold << "%% in ("
<< i << "," << j << ");" << std::endl << " Single precision transform: " << matf << std::endl
<< "Double precision transform:" << matd;
}
//Test translation component
failThreshold = 1e-1; //Tenth of a millimeter
for(int i=0;i<3;i++){
diff = (double)matf(i,3) - matd(i,3);
if(!std::isnan(diff))
ASSERT_LT(diff, failThreshold) <<
tag.first << "'s single and double precision transforms differ more than " << failThreshold << "%% in ("
<< i << "," << "3);" << std::endl << " Single precision transform: " << matf << std::endl
<< "Double precision transform:" << matd;
}
//Test last row
ASSERT_EQ(matf(3,0), 0.0f); ASSERT_EQ(matf(3,1), 0.0f); ASSERT_EQ(matf(3,2), 0.0f); ASSERT_EQ(matf(3,3), 1.0f);
ASSERT_EQ(matd(3,0), 0.0); ASSERT_EQ(matd(3,1), 0.0); ASSERT_EQ(matd(3,2), 0.0); ASSERT_EQ(matd(3,3), 1.0);
}
}
else {
ADD_FAILURE()
<< "Unable to read: " << path << "\n"
<< "Did you correctly set the OPENCV_TEST_DATA_PATH environment variable?\n"
<< "CMake takes care of this if you set its TEST_DATA variable.\n"
<< "You can download the test data from\n"
<< "https://github.com/chili-epfl/chilitags-testdata";
}
}
}
