test_noise_generator.cpp

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#include <gtest/gtest.h>
#include <stomp_moveit/noise_generators.hpp>
 
constexpr size_t TIMESTEPS = 100;
constexpr size_t VARIABLES = 6;
static const std::vector<double> STDDEV(VARIABLES, 0.2);
static const Eigen::MatrixXd VALUES = Eigen::MatrixXd::Constant(VARIABLES, TIMESTEPS, 1.0);
static const Eigen::MatrixXd NOISY_VALUES = Eigen::MatrixXd::Constant(VARIABLES, TIMESTEPS, 0.0);
static const Eigen::MatrixXd NOISE = Eigen::MatrixXd::Constant(VARIABLES, TIMESTEPS, 0.0);
 
TEST(NoiseGeneratorTest, testStartEndUnchanged)
{
  auto noise_gen = stomp_moveit::noise::getNormalDistributionGenerator(TIMESTEPS, STDDEV);
 
  auto noise = NOISE;
  auto noisy_values = NOISY_VALUES;
 
  noise_gen(VALUES, noisy_values, noise);
 
  // Test that noise creates output unlike the input
  EXPECT_NE(noise, NOISE);
  EXPECT_NE(noisy_values, NOISY_VALUES);
  EXPECT_NE(VALUES, noisy_values);
 
  // Test that the dimensions of the output matches the input
  EXPECT_EQ(noise.size(), NOISE.size());
  EXPECT_EQ(noisy_values.size(), NOISY_VALUES.size());
 
  // Test that start and end columns (=states) are not modified
  EXPECT_EQ(VALUES.col(0), noisy_values.col(0));
  EXPECT_EQ(VALUES.col(TIMESTEPS - 1), noisy_values.col(TIMESTEPS - 1));
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}