Revision: 6922
http://playerstage.svn.sourceforge.net/playerstage/?rev=6922&view=rev
Author: jeremy_asher
Date: 2008-07-24 18:45:15 +0000 (Thu, 24 Jul 2008)
Log Message:
-----------
libstageplugin: finalized fiducial test
Modified Paths:
--------------
code/stage/trunk/libstageplugin/test/lsp_test_fiducial.cc
code/stage/trunk/libstageplugin/test/lsp_test_fiducial.hh
code/stage/trunk/libstageplugin/test/lsp_test_sonar.cc
code/stage/trunk/libstageplugin/test/lsp_test_sonar.hh
code/stage/trunk/worlds/lsp_test.world
Modified: code/stage/trunk/libstageplugin/test/lsp_test_fiducial.cc
===================================================================
--- code/stage/trunk/libstageplugin/test/lsp_test_fiducial.cc 2008-07-24
16:22:28 UTC (rev 6921)
+++ code/stage/trunk/libstageplugin/test/lsp_test_fiducial.cc 2008-07-24
18:45:15 UTC (rev 6922)
@@ -2,8 +2,6 @@
using namespace lspTest;
-const int Fiducial::Samples = 361;
-
void Fiducial::setUp() {
connect();
fiducialProxy = playerc_fiducial_create( client, 0 );
@@ -38,15 +36,19 @@
CPPUNIT_ASSERT_MESSAGE( "fiducial updating", fiducialProxy->info.fresh
== 1 );
CPPUNIT_ASSERT( fiducialProxy->info.datatime > 0 );
-// CPPUNIT_ASSERT_EQUAL_MESSAGE( "fiducials_count", 1,
fiducialProxy->fiducials_count ); // lsp_test.world
+
+ // Make sure we see exactly 1 robot with ID 2
+ CPPUNIT_ASSERT_EQUAL_MESSAGE( "fiducials_count", 1,
fiducialProxy->fiducials_count ); // lsp_test.world
+ CPPUNIT_ASSERT( fiducialProxy->fiducials[0].id == 2 );
- printf("\nfiducials_count: %d\n", fiducialProxy->fiducials_count );
- for ( int i = 0; i < fiducialProxy->fiducials_count; i++ ) {
-// CPPUNIT_ASSERT( fiducialProxy->fiducials[i].id == 2 );
- printf( "fiducial return: %d @ [ %6.4f %6.4f %6.4f ]\n",
- fiducialProxy->fiducials[i].id,
- fiducialProxy->fiducials[i].pose.px,
- fiducialProxy->fiducials[i].pose.py,
- fiducialProxy->fiducials[i].pose.pyaw );
- }
+
+
+// printf("\nfiducials_count: %d\n", fiducialProxy->fiducials_count );
+// for ( int i = 0; i < fiducialProxy->fiducials_count; i++ ) {
+// printf( "fiducial return: %d @ [ %6.4f %6.4f %6.4f ]\n",
+// fiducialProxy->fiducials[i].id,
+// fiducialProxy->fiducials[i].pose.px,
+// fiducialProxy->fiducials[i].pose.py,
+// fiducialProxy->fiducials[i].pose.pyaw );
+// }
}
\ No newline at end of file
Modified: code/stage/trunk/libstageplugin/test/lsp_test_fiducial.hh
===================================================================
--- code/stage/trunk/libstageplugin/test/lsp_test_fiducial.hh 2008-07-24
16:22:28 UTC (rev 6921)
+++ code/stage/trunk/libstageplugin/test/lsp_test_fiducial.hh 2008-07-24
18:45:15 UTC (rev 6922)
@@ -21,7 +21,6 @@
void testGeom();
void testData();
- static const int Samples;
public:
void setUp();
void tearDown();
Modified: code/stage/trunk/libstageplugin/test/lsp_test_sonar.cc
===================================================================
--- code/stage/trunk/libstageplugin/test/lsp_test_sonar.cc 2008-07-24
16:22:28 UTC (rev 6921)
+++ code/stage/trunk/libstageplugin/test/lsp_test_sonar.cc 2008-07-24
18:45:15 UTC (rev 6922)
@@ -2,8 +2,6 @@
using namespace lspTest;
-const int Sonar::Samples = 361;
-
void Sonar::setUp() {
connect();
sonarProxy = playerc_sonar_create( client, 0 );
Modified: code/stage/trunk/libstageplugin/test/lsp_test_sonar.hh
===================================================================
--- code/stage/trunk/libstageplugin/test/lsp_test_sonar.hh 2008-07-24
16:22:28 UTC (rev 6921)
+++ code/stage/trunk/libstageplugin/test/lsp_test_sonar.hh 2008-07-24
18:45:15 UTC (rev 6922)
@@ -21,7 +21,6 @@
void testGeom();
void testData();
- static const int Samples;
public:
void setUp();
void tearDown();
Modified: code/stage/trunk/worlds/lsp_test.world
===================================================================
--- code/stage/trunk/worlds/lsp_test.world 2008-07-24 16:22:28 UTC (rev
6921)
+++ code/stage/trunk/worlds/lsp_test.world 2008-07-24 18:45:15 UTC (rev
6922)
@@ -65,4 +65,4 @@
fiducial_return 2
pose [ -5.085 -7.193 0 144.304 ]
-)
+)
\ No newline at end of file
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