Add two more real-world configurations to tests

Note: the second one fails with our current implementation
UniversalRobots · Jun 6, 2024 · 28a471d · 28a471d
1 parent b2bf704
commit 28a471d
Showing 1 changed file with 31 additions and 11 deletions.
diff --git a/ur_calibration/test/calibration_test.cpp b/ur_calibration/test/calibration_test.cpp
@@ -208,14 +208,34 @@ TEST_P(CalibrationTest, calibration)
 
 INSTANTIATE_TEST_SUITE_P(
     CalibrationTests, CalibrationTest,
-    ::testing::Values(model_from_dh({ 0.00065609212979853, 1.4442162376284788, 0.854147723854608, -2.2989425877563705,
-                                      -1.573498686836816e-05, 1.9072435590711256e-05 },  // d
-                                    { 4.6311376834935676e-05, -0.00012568315331862312, 0.00186216581161458,
-                                      9.918593870679266e-05, 4.215462720453189e-06, 0 },  // a
-                                    { -7.290070070824746e-05, -0.01713897289704999, -0.03707159413492756,
-                                      0.054279462160583214, 1.488984257025741e-07, 1.551499479707493e-05 },  // theta
-                                    { 0.000211987863869334, -0.0072553625957652995, -0.013483226769541364,
-                                      0.0013495820227329425, -0.001263136163679901, 0 }  // alpha
-                                    )
-
-                          ));
+    ::testing::Values(
+        model_from_dh({ 0.00065609212979853, 1.4442162376284788, 0.854147723854608, -2.2989425877563705,
+                        -1.573498686836816e-05, 1.9072435590711256e-05 },  // d
+                      { 4.6311376834935676e-05, -0.00012568315331862312, 0.00186216581161458, 9.918593870679266e-05,
+                        4.215462720453189e-06, 0 },  // a
+                      { -7.290070070824746e-05, -0.01713897289704999, -0.03707159413492756, 0.054279462160583214,
+                        1.488984257025741e-07, 1.551499479707493e-05 },  // theta
+                      { 0.000211987863869334, -0.0072553625957652995, -0.013483226769541364, 0.0013495820227329425,
+                        -0.001263136163679901, 0 }  // alpha
+                      ),
+
+        model_from_dh({ -0.000144894975118076141, 303.469135666158195, -309.88394307789747, 6.41459904397394975,
+                        -4.48232900190081995e-05, -0.00087071402790364627 },  // d
+                      { 0.000108651068627930392, 0.240324175250532346, 0.00180628180213493472, 2.63076149165684402e-05,
+                        3.96638632500012715e-06, 0 },  // a
+                      { 1.59613525316931737e-07, -0.917209621528830232, 7.12936131346499469, 0.0710299029424392298,
+                        -1.64258976526054923e-06, 9.17286101034808787e-08 },  // theta
+                      { -0.000444781952841921679, -0.00160215112531214153, 0.00631917793331091861,
+                        -0.00165055247340828437, 0.000763682515545038854, 0 }  // alpha
+                      ),
+        model_from_dh({ -0.000160188285741325043, 439.140974079900957, -446.027059806332147, 6.88618689642360149,
+                        -3.86588496858186748e-05, -0.00087908274257374186 },  // d
+                      { 2.12234865571205891e-05, 0.632017132627700651, 0.00229833638891230319, -4.61409023720933908e-05,
+                        -6.39280053471801522e-05, 0 },  // a
+                      { -2.41478068943590252e-07, 1.60233952386694556, -1.68607190752171299, 0.0837331147700118711,
+                        -1.01260355871157781e-07, 3.91986209186123702e-08 },  // theta
+                      { -0.000650246557584166496, 0.00139416666825590402, 0.00693818880325995126,
+                        -0.000811641562390219562, 0.000411120504570705592, 0 }  // alpha
+                      )
+
+            ));