Project: engagement_recognition License: BSD Dependencies: engagement_msgs engagement_srvs roscpp Used by: None All Packages

engagement_recognition/test/actors/actor_test.cpp Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #include <gtest/gtest.h> #include <vector> #include <string> #include "../src/recognition/actors/actor.h" #include "../src/recognition/handlers/engagement_handler.h" #include "../src/recognition/lib/engagement_params.h" TEST(ActorTestSuite, testConstructor) { Actor actor = Actor(""); std::vector<std::string> objects; objects.push_back("blue-plate"); EXPECT_EQ("", actor.getID()); EXPECT_FALSE(actor.getEngaged()); EXPECT_FALSE(actor.isFacialGaze()); EXPECT_FALSE(actor.isSpeaking()); EXPECT_FALSE(actor.isLooking(std::vector<std::string>(objects))); EXPECT_FALSE(actor.isPointing(std::vector<std::string>(objects))); EXPECT_EQ((unsigned)0, actor.getLooking().size()); EXPECT_EQ((unsigned)0, actor.getPointing().size()); EXPECT_EQ((unsigned)14, actor.getStatistics().size()); EXPECT_TRUE(actor.getLogger()); } TEST(ActorTestSuite, testNameConstructor) { Actor actor = Actor("face0"); std::vector<std::string> objects; objects.push_back("blue-plate"); EXPECT_EQ("face0", actor.getID()); EXPECT_FALSE(actor.getEngaged()); EXPECT_FALSE(actor.isFacialGaze()); EXPECT_FALSE(actor.isSpeaking()); EXPECT_FALSE(actor.isLooking(std::vector<std::string>(objects))); EXPECT_FALSE(actor.isPointing(std::vector<std::string>(objects))); EXPECT_EQ((unsigned)0, actor.getLooking().size()); EXPECT_EQ((unsigned)0, actor.getPointing().size()); EXPECT_EQ((unsigned)14, actor.getStatistics().size()); EXPECT_TRUE(actor.getLogger()); } TEST(ActorTestSuite, testEngaged) { Actor actor = Actor("face0"); EXPECT_FALSE(actor.getEngaged()); actor.setEngaged(true); EXPECT_TRUE(actor.getEngaged()); actor.setEngaged(true); EXPECT_TRUE(actor.getEngaged()); actor.setEngaged(false); EXPECT_FALSE(actor.getEngaged()); actor.setEngaged(false); } TEST(ActorTestSuite, testFacialGaze) { Actor actor = Actor("face0"); EXPECT_FALSE(actor.isFacialGaze()); actor.setFacialGaze(true); EXPECT_TRUE(actor.isFacialGaze()); actor.setFacialGaze(true); EXPECT_TRUE(actor.isFacialGaze()); actor.setFacialGaze(false); EXPECT_FALSE(actor.isFacialGaze()); actor.setFacialGaze(false); EXPECT_FALSE(actor.isFacialGaze()); } TEST(ActorTestSuite, testSpeaking) { Actor actor = Actor("face0"); EXPECT_FALSE(actor.isSpeaking()); actor.setSpeaking(true); EXPECT_TRUE(actor.isSpeaking()); actor.setSpeaking(true); EXPECT_TRUE(actor.isSpeaking()); actor.setSpeaking(false); EXPECT_FALSE(actor.isSpeaking()); actor.setSpeaking(false); EXPECT_FALSE(actor.isSpeaking()); } TEST(ActorTestSuite, testLooking) { Actor actor = Actor("face0"); std::vector<std::string> objects; objects.push_back("blue-plate"); EXPECT_FALSE(actor.isLooking(std::vector<std::string>(objects))); EXPECT_EQ((unsigned)0, actor.getLooking().size()); actor.setLooking(objects, true); EXPECT_EQ(objects.size(), actor.getLooking().size()); EXPECT_EQ(objects.at(0), actor.getLooking().at(0)); actor.setLooking(objects, true); EXPECT_EQ(objects.size(), actor.getLooking().size()); EXPECT_EQ(objects.at(0), actor.getLooking().at(0)); actor.setLooking(objects, false); EXPECT_EQ((unsigned)0, actor.getLooking().size()); actor.setLooking(objects, false); EXPECT_EQ((unsigned)0, actor.getLooking().size()); objects.clear(); actor.setLooking(objects, true); EXPECT_EQ((unsigned)0, actor.getLooking().size()); objects.push_back("blue-plate"); objects.push_back("red-plate"); objects.push_back("green-plate"); actor.setLooking(objects, true); EXPECT_EQ(objects.size(), actor.getLooking().size()); EXPECT_EQ(objects.at(0), actor.getLooking().at(0)); EXPECT_EQ(objects.at(1), actor.getLooking().at(1)); EXPECT_EQ(objects.at(2), actor.getLooking().at(2)); objects.clear(); actor.setLooking(objects, true); EXPECT_EQ((unsigned)3, actor.getLooking().size()); objects.push_back("blue-plate"); objects.push_back("green-plate"); actor.setLooking(objects, false); EXPECT_EQ((unsigned)1, actor.getLooking().size()); EXPECT_EQ("red-plate", actor.getLooking().at(0)); objects.clear(); objects.push_back("red-plate"); actor.setLooking(objects, false); EXPECT_EQ((unsigned)0, actor.getLooking().size()); } TEST(ActorTestSuite, testPointing) { Actor actor = Actor("face0"); std::vector<std::string> objects; objects.push_back("blue-plate"); EXPECT_FALSE(actor.isPointing(std::vector<std::string>(objects))); EXPECT_EQ((unsigned)0, actor.getPointing().size()); actor.setPointing(objects, true); EXPECT_EQ(objects.size(), actor.getPointing().size()); EXPECT_EQ(objects.at(0), actor.getPointing().at(0)); actor.setPointing(objects, true); EXPECT_EQ(objects.size(), actor.getPointing().size()); EXPECT_EQ(objects.at(0), actor.getPointing().at(0)); actor.setPointing(objects, false); EXPECT_EQ((unsigned)0, actor.getPointing().size()); actor.setPointing(objects, false); EXPECT_EQ((unsigned)0, actor.getPointing().size()); objects.clear(); actor.setPointing(objects, true); EXPECT_EQ((unsigned)0, actor.getPointing().size()); objects.push_back("blue-plate"); objects.push_back("red-plate"); objects.push_back("green-plate"); actor.setPointing(objects, true); EXPECT_EQ(objects.size(), actor.getPointing().size()); EXPECT_EQ(objects.at(0), actor.getPointing().at(0)); EXPECT_EQ(objects.at(1), actor.getPointing().at(1)); EXPECT_EQ(objects.at(2), actor.getPointing().at(2)); objects.clear(); actor.setPointing(objects, true); EXPECT_EQ((unsigned)3, actor.getPointing().size()); objects.push_back("blue-plate"); objects.push_back("green-plate"); actor.setPointing(objects, false); EXPECT_EQ((unsigned)1, actor.getPointing().size()); EXPECT_EQ("red-plate", actor.getPointing().at(0)); objects.clear(); objects.push_back("red-plate"); actor.setPointing(objects, false); EXPECT_EQ((unsigned)0, actor.getPointing().size()); } TEST(ActorTestSuite, testHandler) { Actor actor = Actor("face0"); Handler *handle = new EngagementHandler(); EXPECT_FALSE(actor.getHandler()); actor.setHandler(handle); EXPECT_EQ(handle, actor.getHandler()); } TEST(ActorTestSuite, testStatistics) { bool run_test = true; double default_size = 5.0; // Grab the conf node handle ros::NodeHandle *conf = EngagementParams::getConfHandle(); // Attempt to grab the param from the server if (conf) conf->param("run_sleep_tests", run_test, true); // Do not run the below tests if the param is false if (!run_test) return; Actor actor = Actor("face0"); int threshold = 2; // Load the default window size from the param server if (conf) conf->param(engagement::WINDOW_SIZE_PARAM, default_size, (double)5.0); if (default_size == 10.0) { EXPECT_EQ((unsigned)14, actor.getStatistics().size()); // Add the event actor.addEvent("DG", true, CURRENT_TIME, 1000, 5000); // Grab the statistics std::vector<long> stats = actor.getStatistics(); EXPECT_EQ((unsigned)14, stats.size()); EXPECT_TRUE(abs(stats.at(0) - 0) <= threshold); EXPECT_TRUE(abs(stats.at(1) - 0) <= threshold); EXPECT_TRUE(abs(stats.at(2) - 1000) <= threshold); EXPECT_TRUE(abs(stats.at(3) - 1000) <= threshold); EXPECT_TRUE(abs(stats.at(4) - 5000) <= threshold); EXPECT_TRUE(abs(stats.at(5) - 5000) <= threshold); EXPECT_EQ(0, stats.at(6)); EXPECT_TRUE(abs(stats.at(7) - 0) <= threshold); EXPECT_TRUE(abs(stats.at(8) - 0) <= threshold); EXPECT_TRUE(abs(stats.at(9) - 1000) <= threshold); EXPECT_TRUE(abs(stats.at(10) - 1000) <= threshold); EXPECT_TRUE(abs(stats.at(11) - 5000) <= threshold); EXPECT_TRUE(abs(stats.at(12) - 5000) <= threshold); EXPECT_EQ(0, stats.at(13)); // Sleep for ten seconds printf("Sleeping for ten seconds...\n"); sleep(10); // Add the event actor.addEvent("MFG", true, CURRENT_TIME, 3000, 7000); stats = actor.getStatistics(); EXPECT_EQ((unsigned)14, stats.size()); EXPECT_TRUE(abs(stats.at(0) - 10000) <= threshold); EXPECT_TRUE(abs(stats.at(1) - 10000) <= threshold); EXPECT_TRUE(abs(stats.at(2) - 2000) <= threshold); EXPECT_TRUE(abs(stats.at(3) - 3000) <= threshold); EXPECT_TRUE(abs(stats.at(4) - 6000) <= threshold); EXPECT_TRUE(abs(stats.at(5) - 7000) <= threshold); EXPECT_EQ(0, stats.at(6) - 0); EXPECT_TRUE(abs(stats.at(7) - 0) <= threshold); EXPECT_TRUE(abs(stats.at(8) - 0) <= threshold); EXPECT_TRUE(abs(stats.at(9) - 3000) <= threshold); EXPECT_TRUE(abs(stats.at(10) - 3000) <= threshold); EXPECT_TRUE(abs(stats.at(11) - 7000) <= threshold); EXPECT_TRUE(abs(stats.at(12) - 7000) <= threshold); EXPECT_EQ(0, stats.at(13) - 0); // Sleep for five seconds printf("Sleeping for five seconds...\n"); sleep(3); // Add the event actor.addEvent("AP", false, CURRENT_TIME, 8000, 8000); stats = actor.getStatistics(); EXPECT_EQ((unsigned)14, stats.size()); EXPECT_TRUE(abs(stats.at(0) - 6500) <= threshold); EXPECT_TRUE(abs(stats.at(1) - 10000) <= threshold); EXPECT_TRUE(abs(stats.at(2) - 4000) <= threshold); EXPECT_TRUE(abs(stats.at(3) - 8000) <= threshold); EXPECT_TRUE(abs(stats.at(4) - 6666) <= threshold); EXPECT_TRUE(abs(stats.at(5) - 8000) <= threshold); EXPECT_EQ(4, stats.at(6)); EXPECT_TRUE(abs(stats.at(7) - 0) <= threshold); EXPECT_TRUE(abs(stats.at(8) - 0) <= threshold); EXPECT_TRUE(abs(stats.at(9) - 5500) <= threshold); EXPECT_TRUE(abs(stats.at(10) - 8000) <= threshold); EXPECT_TRUE(abs(stats.at(11) - 7500) <= threshold); EXPECT_TRUE(abs(stats.at(12) - 8000) <= threshold); EXPECT_EQ(6, stats.at(13)); // Sleep for five more seconds printf("Sleeping for five seconds...\n"); sleep(5); // Add the event actor.addEvent("DG", false, CURRENT_TIME, 0, 500); stats = actor.getStatistics(); EXPECT_EQ((unsigned)14, stats.size()); EXPECT_TRUE(abs(stats.at(0) - 6000) <= threshold); EXPECT_TRUE(abs(stats.at(1) - 10000) <= threshold); EXPECT_TRUE(abs(stats.at(2) - 3000) <= threshold); EXPECT_TRUE(abs(stats.at(3) - 8000) <= threshold); EXPECT_TRUE(abs(stats.at(4) - 5125) <= threshold); EXPECT_TRUE(abs(stats.at(5) - 8000) <= threshold); EXPECT_EQ(6, stats.at(6)); EXPECT_TRUE(abs(stats.at(7) - 0) <= threshold); EXPECT_TRUE(abs(stats.at(8) - 0) <= threshold); EXPECT_TRUE(abs(stats.at(9) - 3666) <= threshold); EXPECT_TRUE(abs(stats.at(10) - 8000) <= threshold); EXPECT_TRUE(abs(stats.at(11) - 5166) <= threshold); EXPECT_TRUE(abs(stats.at(12) - 8000) <= threshold); EXPECT_EQ(12, stats.at(13)); // Sleep for five more seconds printf("Sleeping for five seconds...\n"); sleep(5); // Add the event (BC events CANNOT FAIL) actor.addEvent("BC", true, CURRENT_TIME, 0, 100); stats = actor.getStatistics(); EXPECT_EQ((unsigned)14, stats.size()); EXPECT_TRUE(abs(stats.at(0) - 5750) <= threshold); EXPECT_TRUE(abs(stats.at(1) - 10000) <= threshold); EXPECT_TRUE(abs(stats.at(2) - 3000) <= threshold); EXPECT_TRUE(abs(stats.at(3) - 8000) <= threshold); EXPECT_TRUE(abs(stats.at(4) - 4120) <= threshold); EXPECT_TRUE(abs(stats.at(5) - 8000) <= threshold); EXPECT_EQ(5, stats.at(6)); EXPECT_TRUE(abs(stats.at(7) - 5000) <= threshold); EXPECT_TRUE(abs(stats.at(8) - 5000) <= threshold); EXPECT_TRUE(abs(stats.at(9) - 0) <= threshold); EXPECT_TRUE(abs(stats.at(10) - 0) <= threshold); EXPECT_TRUE(abs(stats.at(11) - 300) <= threshold); EXPECT_TRUE(abs(stats.at(12) - 500) <= threshold); EXPECT_EQ(6, stats.at(13)); } else ROS_WARN("testStatistics will fail unless window size is 10.0"); }

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engagement_recognition
Author(s): Brett Ponsler (bponsler (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:35:48 2011