Project: engagement_generation License: BSD Dependencies: engagement_msgs engagement_srvs bml_msgs bml_srvs bml_realizer Used by: None All Packages

engagement_generation/test/edu/wpi/hri/gen/policy/ref/GestureStateTest.java Go to the documentation of this file. package edu.wpi.hri.gen.policy.ref; import java.io.File; import java.util.ArrayList; import junit.framework.TestCase; import org.junit.Test; import ros.NodeHandle; import ros.Ros; import ros.RosException; import ros.pkg.engagement_msgs.msg.ActorID; import ros.pkg.bml_msgs.msg.Entity; import ros.pkg.bml_msgs.msg.EntityPosition; import ros.pkg.bml_msgs.msg.Flag; import ros.pkg.engagement_msgs.msg.Performance; import edu.wpi.hri.bml.XMLInterface; import edu.wpi.hri.comm.MasterSpinner; import edu.wpi.hri.gen.comm.BMLRealizer; import edu.wpi.hri.gen.comm.GazeKnowledge; import edu.wpi.hri.gen.comm.SituationKnowledge; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.LoggerLevel; public class GestureStateTest extends TestCase { @Test public void testGestureState() throws RosException { GestureState state = new GestureState(new Point(1, 1, 1), new Point(2, 3, 4), new Point(5, 6, 7)); assertEquals(new Point(1, 1, 1), state.getGazePoint()); assertEquals(new Point(2, 3, 4), state.getRobotLeftHand()); assertEquals(new Point(5, 6, 7), state.getRobotRightHand()); GestureState next = state.nextState(null, new Point(.1, .2, .3), null); assertEquals(state.getGazePoint(), next.getGazePoint()); assertEquals(new Point(.1, .2, .3), next.getRobotLeftHand()); assertEquals(state.getRobotRightHand(), next.getRobotRightHand()); GestureState third = next.nextState(new Point(1.1, 2.2, 3.3), null, new Point(1.1, 2.2, 3.3)); assertEquals(new Point(1.1, 2.2, 3.3), third.getGazePoint()); assertEquals(next.getRobotLeftHand(), third.getRobotLeftHand()); assertEquals(new Point(1.1, 2.2, 3.3), third.getRobotRightHand()); Logger logger = Logger.createDefault(); logger.info("CREATE STUFF HERE"); NodeHandle handle = Ros.getInstance().createNodeHandle(); XMLInterface xml = new XMLInterface(logger, new File("ebml.xsd")); MasterSpinner spin = new MasterSpinner(logger, false); logger.debug(LoggerLevel.ALL, "setup ..."); BMLRealizer realizer = new BMLRealizer(handle, spin, logger); logger.debug(LoggerLevel.ALL, "setup ..."); GazeKnowledge gaze = new GazeKnowledge(handle, logger, xml, realizer); SituationKnowledge world = new SituationKnowledge(logger, handle); logger.info("CREATED lots of STUFF HERE"); EntityPosition pos = new EntityPosition(); pos.entity.id = "target"; pos.entity.type = Entity.OBJECT; pos.rotation = 0; pos.x = 1.1f; pos.y = 2.2f; pos.z = 3.3f; world.call(pos); pos = new EntityPosition(); pos.entity.id = "ROBOT"; pos.entity.type = Entity.UNKNOWN; pos.rotation = 0; pos.x = 80f; pos.y = 90f; pos.z = 100f; world.call(pos); Performance perf = new Performance(); perf.actor.id = ActorID.ROBOT; perf.begin.value = Flag.TRUE; perf.objects = new ArrayList<Entity>(); perf.objects.add(new Entity()); perf.objects.get(0).id = "target"; perf.objects.get(0).type = Entity.OBJECT; perf.prob = new float[1]; perf.prob[0] = 1.0f; gaze.call(perf); GestureState inputState = new GestureState(gaze, world); assertTrue(world.get("target").equals(inputState.getGazePoint())); assertTrue(world.getRobotLeftHand().equals( inputState.getRobotLeftHand())); assertTrue(world.getRobotRightHand().equals( inputState.getRobotRightHand())); world.shutdown(); gaze.shutdown(); realizer.shutdown(); spin.stop(); spin.joinOldMasters(); handle.shutdown(); } }

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engagement_generation
Author(s): Aaron Holroyd (aholroyd (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:35:40 2011