Test example programs#64
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zultron wants to merge 39 commits intoPickNikRobotics:andyz/squashed_improvementsfrom
Open
Test example programs#64zultron wants to merge 39 commits intoPickNikRobotics:andyz/squashed_improvementsfrom
zultron wants to merge 39 commits intoPickNikRobotics:andyz/squashed_improvementsfrom
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Third joint acceleration definitely needs some work
…NikRobotics/trackjoint into andyz/squashed_improvements
* Clang tidy fixes (#53)
* Clean up inline functions (#54)
- Remove unnecessary inline tags
- Move remaining inline function implementations into header
* Update executable names in Readme (#56)
* Run `clang-format`
Command copied from `moveit_ci`:
find . -name '*.h' -or -name '*.hpp' -or -name '*.cpp' | \
xargs /usr/bin/clang-format -i -style=file
* Adjust clang-format rules and re-run
Fix hideous string breaks pointed out by @AndyZe
* single_joint_generator: Silence compiler warning
[...]/src/single_joint_generator.cpp: In member function ‘void trackjoint::SingleJointGenerator::extendTrajectoryDuration()’:
[...]/src/single_joint_generator.cpp:123:30: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for (size_t idx = 0; idx < waypoints_.elapsed_times.size(); ++idx)
~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
[...]/src/single_joint_generator.cpp:138:19: warning: unused variable ‘error_code’ [-Wunused-variable]
ErrorCodeEnum error_code = forwardLimitCompensation(&index_last_successful_);
^~~~~~~~~~
* single_joint_generator: Silence compiler warning
[...]/src/single_joint_generator.cpp: In member function ‘void trackjoint::SingleJointGenerator::extendTrajectoryDuration()’:
[...]/src/single_joint_generator.cpp:123:30: error: comparison between signed and unsigned integer expressions [-Werror=sign-compare]
for (size_t idx = 0; idx < waypoints_.elapsed_times.size(); ++idx)
~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
* test/trajectory_generation_test: Silence compiler warning
[...]/test/trajectory_generation_test.cpp: In member function ‘virtual void trackjoint::TrajectoryGenerationTest_VelAccelJerkLimit_Test::TestBody()’:
[...]/test/trajectory_generation_test.cpp:433:16: error: unused variable ‘duration_tolerance’ [-Werror=unused-variable]
const double duration_tolerance = 5e-3;
^~~~~~~~~~~~~~~~~~
* Remove junk files
* .gitignore generated `.catkin-tools` directory
These files were removed in previous "Remove junk files" commit;
@AndyZe suggested we keep them out permanently by `.gitignore`ing
them.
* Change `int` to `size_t` for vector indices in tests
Remove unneeded `static_cast<int>`; prepare for upcoming changes.
* trajectory_generator.cpp: Fix `clang-tidy` errors
[...]/src/trajectory_generator.cpp:32:58: warning: redundant boolean literal in ternary expression result [readability-simplify-boolean-expr]
bool timestep_was_upsampled = (upsample_rounds_ > 0) ? true : false;
~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
upsample_rounds_ > 0
[...]/src/trajectory_generator.cpp:61:58: warning: redundant boolean literal in ternary expression result [readability-simplify-boolean-expr]
bool timestep_was_upsampled = (upsample_rounds_ > 0) ? true : false;
~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
upsample_rounds_ > 0
* single_joint_generator.cpp: Fix clang-tidy errors
[...]/src/single_joint_generator.cpp:116:14: warning: local copy 'spline' of the variable 'fit' is never modified; consider avoiding the copy [performance-unnecessary-copy-initialization]
Spline1D spline(fit);
~~~~~~~~ ^
const &
* Slence clang-tidy warnings
[...]/src/single_joint_generator.cpp:279:5: warning: Value stored to 'delta_v' is never read [clang-analyzer-deadcode.DeadStores]
delta_v = 0;
^
[...]/src/single_joint_generator.cpp:279:5: note: Value stored to 'delta_v' is never read
1 warning generated.
* Silence clang-tidy warnings
/usr/include/clang/6.0.0/include/emmintrin.h:1593:10: warning: Dereference of null pointer [clang-analyzer-core.NullDereference]
return *(__m128d*)__dp;
^
[...]/test/trajectory_generation_test.cpp:1093:33: note: Calling 'TrajectoryGenerationTest::calculatePositionAccuracy'
const double position_error = calculatePositionAccuracy(goal_joint_states_, output_trajectories_);
^
[...]/test/trajectory_generation_test.cpp:146:28: note: Assuming the condition is false
for (size_t joint = 0; joint < trajectory.size(); ++joint)
^
[...]/test/trajectory_generation_test.cpp:146:5: note: Loop condition is false. Execution continues on line 152
for (size_t joint = 0; joint < trajectory.size(); ++joint)
^
[...]/test/trajectory_generation_test.cpp:152:20: note: Calling 'MatrixBase::norm'
double error = (final_positions - goal_positions).norm();
^
/usr/include/eigen3/Eigen/src/Core/Dot.h:107:23: note: Calling 'MatrixBase::squaredNorm'
return numext::sqrt(squaredNorm());
^
/usr/include/eigen3/Eigen/src/Core/Dot.h:95:23: note: Calling 'DenseBase::sum'
return numext::real((*this).cwiseAbs2().sum());
^
/usr/include/eigen3/Eigen/src/Core/Redux.h:451:6: note: Left side of '||' is false
if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
^
/usr/include/eigen3/Eigen/src/Core/Redux.h:451:31: note: Left side of '&&' is true
if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
^
/usr/include/eigen3/Eigen/src/Core/Redux.h:451:3: note: Taking false branch
if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
^
/usr/include/eigen3/Eigen/src/Core/Redux.h:453:10: note: Calling 'DenseBase::redux'
return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
^
/usr/include/eigen3/Eigen/src/Core/Redux.h:418:10: note: Calling 'redux_impl::run'
return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func);
^
/usr/include/eigen3/Eigen/src/Core/Redux.h:231:8: note: Assuming 'alignedSize' is not equal to 0
if(alignedSize)
^
/usr/include/eigen3/Eigen/src/Core/Redux.h:231:5: note: Taking true branch
if(alignedSize)
^
/usr/include/eigen3/Eigen/src/Core/Redux.h:233:34: note: Calling 'redux_evaluator::packet'
PacketScalar packet_res0 = mat.template packet<alignment,PacketScalar>(alignedStart);
^
/usr/include/eigen3/Eigen/src/Core/Redux.h:377:12: note: Calling 'unary_evaluator::packet'
{ return m_evaluator.template packet<LoadMode,PacketType>(index); }
^
/usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:563:31: note: Calling 'binary_evaluator::packet'
return m_functor.packetOp(m_argImpl.template packet<LoadMode, PacketType>(index));
^
/usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:734:31: note: Calling 'evaluator::packet'
return m_functor.packetOp(m_lhsImpl.template packet<LoadMode,PacketType>(index),
^
/usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:204:41: note: Passing null pointer value via 1st parameter 'from'
return ploadt<PacketType, LoadMode>(m_data + index);
^
/usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:204:12: note: Calling 'ploadt'
return ploadt<PacketType, LoadMode>(m_data + index);
^
/usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h:462:3: note: Taking true branch
if(Alignment >= unpacket_traits<Packet>::alignment)
^
/usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h:463:26: note: Passing null pointer value via 1st parameter 'from'
return pload<Packet>(from);
^
/usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h:463:12: note: Calling 'pload'
return pload<Packet>(from);
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:307:124: note: Passing null pointer value via 1st parameter '__dp'
template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); }
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:307:112: note: Calling '_mm_load_pd'
template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); }
^
/usr/include/clang/6.0.0/include/emmintrin.h:1593:10: note: Dereference of null pointer
return *(__m128d*)__dp;
^
Co-authored-by: Nathan Brooks <nathanbrooks@picknik.ai>
Co-authored-by: AndyZe <zelenak@picknik.ai>
In PR #62, I broke the examples, which luckily @AndyZe found by manually testing. Broken examples should be tested automatically.
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Agreed. That's a copy'n'paste from the ROS wiki. Fixed. |
Contributor
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I couldn't figure out how to run the examples directly. They don't produce |
Contributor
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Tested locally. All 3 tests pass as they should. Will approve/merge when CI passes. |
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In PR #62, I broke the examples, which luckily @AndyZe found by
manually testing. The specific breakage will be fixed over there, but in general, broken examples should be detected automatically in the tests.
This PR adds a Python test that simply runs the three examples and fails if they exit non-zero.