Additional 5DOF tests

src/tests/data/fanuc/fanuc_m16ib20_5dof.yaml

@@ -0,0 +1,15 @@
+#
+# Artificicial test data set, derived from Fanuc m16ib20
+#
+opw_kinematics_geometric_parameters:
+  a1: 0.15
+  a2: -0.10
+  b: 0.0
+  c1: 0.525
+  c2: 0.77
+  c3: 0.74
+  c4: 0.10
+  dof: 5 # 5 DOF robot
+opw_kinematics_joint_offsets: [0, 0, deg(-90), 0, 0, deg(180)]
+opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1] # 5 members ok
+

src/tests/mod.rs

@@ -4,3 +4,4 @@ mod constraint_test_various;
 mod urdf_extractor;
 mod tool_base_test;
 mod test_utils;
+mod test_from_yaml;

src/tests/test_from_yaml.rs

@@ -0,0 +1,70 @@
+
+#[cfg(test)]
+mod tests {
+    use crate::parameters::opw_kinematics::Parameters;
+
+    const READ_ERROR: &'static str = "Failed to load parameters from file";
+
+    #[test]
+    fn test_parameters_from_yaml() {
+        let filename = "src/tests/data/fanuc/fanuc_m16ib20.yaml";
+        let loaded =
+            Parameters::from_yaml_file(filename).expect(READ_ERROR);
+
+        let expected = Parameters {
+            a1: 0.15,
+            a2: -0.10,
+            b: 0.0,
+            c1: 0.525,
+            c2: 0.77,
+            c3: 0.74,
+            c4: 0.10,
+            offsets: [0.0, 0.0, -90.0_f64.to_radians(), 0.0, 0.0, 180.0_f64.to_radians()],
+            sign_corrections: [1, 1, -1, -1, -1, -1],
+            dof: 6,
+        };
+
+
+        assert_eq!(expected.a1, loaded.a1);
+        assert_eq!(expected.a2, loaded.a2);
+        assert_eq!(expected.b, loaded.b);
+        assert_eq!(expected.c1, loaded.c1);
+        assert_eq!(expected.c2, loaded.c2);
+        assert_eq!(expected.c3, loaded.c3);
+        assert_eq!(expected.c4, loaded.c4);
+        assert_eq!(expected.offsets, loaded.offsets);
+        assert_eq!(expected.sign_corrections, loaded.sign_corrections);
+    }
+
+    #[test]
+    fn test_parameters_from_yaml_5dof() {
+        let filename = "src/tests/data/fanuc/fanuc_m16ib20_5dof.yaml";
+        let loaded =
+            Parameters::from_yaml_file(filename).expect(READ_ERROR);
+
+        let expected = Parameters {
+            a1: 0.15,
+            a2: -0.10,
+            b: 0.0,
+            c1: 0.525,
+            c2: 0.77,
+            c3: 0.74,
+            c4: 0.10,
+            offsets: [0.0, 0.0, -90.0_f64.to_radians(), 0.0, 0.0, 180.0_f64.to_radians()],
+            sign_corrections: [1, 1, -1, -1, -1, 0], // Sign corrections last member 0
+            dof: 5, // Degrees of freedom 5
+        };
+
+
+        assert_eq!(expected.a1, loaded.a1);
+        assert_eq!(expected.a2, loaded.a2);
+        assert_eq!(expected.b, loaded.b);
+        assert_eq!(expected.c1, loaded.c1);
+        assert_eq!(expected.c2, loaded.c2);
+        assert_eq!(expected.c3, loaded.c3);
+        assert_eq!(expected.c4, loaded.c4);
+        assert_eq!(expected.offsets, loaded.offsets);
+        assert_eq!(expected.sign_corrections, loaded.sign_corrections);
+        assert_eq!(expected.dof, loaded.dof);
+    }
+}

src/tests/testcases.rs

@@ -285,34 +285,4 @@ mod tests {
         }
     }
 
-    #[test]
-    fn test_parameters_from_yaml() {
-        let filename = "src/tests/data/fanuc/fanuc_m16ib20.yaml";
-        let loaded =
-            Parameters::from_yaml_file(filename).expect("Failed to load parameters from file");
-
-        let expected = Parameters {
-            a1: 0.15,
-            a2: -0.10,
-            b: 0.0,
-            c1: 0.525,
-            c2: 0.77,
-            c3: 0.74,
-            c4: 0.10,
-            offsets: [0.0, 0.0, -90.0_f64.to_radians(), 0.0, 0.0, 180.0_f64.to_radians()],
-            sign_corrections: [1, 1, -1, -1, -1, -1],
-            dof: 6,
-        };
-
-
-        assert_eq!(expected.a1, loaded.a1);
-        assert_eq!(expected.a2, loaded.a2);
-        assert_eq!(expected.b, loaded.b);
-        assert_eq!(expected.c1, loaded.c1);
-        assert_eq!(expected.c2, loaded.c2);
-        assert_eq!(expected.c3, loaded.c3);
-        assert_eq!(expected.c4, loaded.c4);
-        assert_eq!(expected.offsets, loaded.offsets);
-        assert_eq!(expected.sign_corrections, loaded.sign_corrections);
-    }
 }