Update the custom limits test

moveit · Dec 8, 2022 · 49d6415 · 49d6415
1 parent ea6f187
commit 49d6415
Showing 1 changed file with 9 additions and 3 deletions.
diff --git a/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp
@@ -174,8 +174,14 @@ TEST(time_optimal_trajectory_generation, test_custom_limits)
 
   TimeOptimalTrajectoryGeneration totg;
   // Custom velocity & acceleration limits for some joints
-  std::unordered_map<std::string, double> vel_limits{ { "panda_joint1", 1.3 } };
-  std::unordered_map<std::string, double> accel_limits{ { "panda_joint2", 2.3 }, { "panda_joint3", 3.3 } };
+  std::unordered_map<std::string, double> vel_limits{ { "panda_joint1", 1.3 }, { "panda_joint2", 2.3 },
+                                                      { "panda_joint3", 3.3 }, { "panda_joint4", 4.3 },
+                                                      { "panda_joint5", 5.3 }, { "panda_joint6", 6.3 },
+                                                      { "panda_joint7", 7.3 } };
+  std::unordered_map<std::string, double> accel_limits{ { "panda_joint1", 1.3 }, { "panda_joint2", 2.3 },
+                                                        { "panda_joint3", 3.3 }, { "panda_joint4", 4.3 },
+                                                        { "panda_joint5", 5.3 }, { "panda_joint6", 6.3 },
+                                                        { "panda_joint7", 7.3 } };
   ASSERT_TRUE(totg.computeTimeStamps(trajectory, vel_limits, accel_limits)) << "Failed to compute time stamps";
 }
 
@@ -256,7 +262,7 @@ TEST(time_optimal_trajectory_generation, testLargeAccel)
   }
 }
 
-// TODO(andyz): commented because loadTestingRobotModel() does not parse acceleration limits
+// TODO(andyz): commented because loadTestingRobotModel() does not parse acceleration limits from URDF
 // // Test parameterizing a trajectory would always produce a trajectory with output end waypoint same as the input end
 // waypoint TEST(time_optimal_trajectory_generation, testLastWaypoint)
 // {