From d7168193d0ae7c4462b0e2b60d569ba93ff3ba67 Mon Sep 17 00:00:00 2001
From: Bence Magyar <bence.magyar.robotics@gmail.com>
Date: Fri, 9 Feb 2024 15:55:58 +0000
Subject: [PATCH] Split test cases into separate units

---
 .../test/test_trajectory.cpp                  | 89 ++++++++++---------
 1 file changed, 47 insertions(+), 42 deletions(-)

diff --git a/joint_trajectory_controller/test/test_trajectory.cpp b/joint_trajectory_controller/test/test_trajectory.cpp
index 4ff4ac01bc..6e0c53ac77 100644
--- a/joint_trajectory_controller/test/test_trajectory.cpp
+++ b/joint_trajectory_controller/test/test_trajectory.cpp
@@ -822,53 +822,58 @@ TEST(TestTrajectory, skip_interpolation)
   }
 }
 
-// test wraparound_joint method
-TEST(TestTrajectory, test_wraparound_joint)
+TEST(TestWrapAroundJoint, no_wraparound)
 {
   const std::vector<double> initial_position(3, 0.);
   std::vector<double> next_position(3, M_PI * 3. / 2.);
 
-  // no wraparound
-  {
-    std::vector<double> current_position(initial_position);
-    std::vector<bool> joints_angle_wraparound(3, false);
-    joint_trajectory_controller::wraparound_joint(
-      current_position, next_position, joints_angle_wraparound);
-    EXPECT_EQ(current_position[0], initial_position[0]);
-    EXPECT_EQ(current_position[1], initial_position[1]);
-    EXPECT_EQ(current_position[2], initial_position[2]);
-  }
+  std::vector<double> current_position(initial_position);
+  std::vector<bool> joints_angle_wraparound(3, false);
+  joint_trajectory_controller::wraparound_joint(
+    current_position, next_position, joints_angle_wraparound);
+  EXPECT_EQ(current_position[0], initial_position[0]);
+  EXPECT_EQ(current_position[1], initial_position[1]);
+  EXPECT_EQ(current_position[2], initial_position[2]);
+}
 
-  // wraparound of a single joint
-  {
-    std::vector<double> current_position(initial_position);
-    std::vector<bool> joints_angle_wraparound{true, false, false};
-    joint_trajectory_controller::wraparound_joint(
-      current_position, next_position, joints_angle_wraparound);
-    EXPECT_EQ(current_position[0], initial_position[0] + 2 * M_PI);
-    EXPECT_EQ(current_position[1], initial_position[1]);
-    EXPECT_EQ(current_position[2], initial_position[2]);
-  }
+TEST(TestWrapAroundJoint, wraparound_single_joint)
+{
+  const std::vector<double> initial_position(3, 0.);
+  std::vector<double> next_position(3, M_PI * 3. / 2.);
 
-  // wraparound of all joints
-  {
-    std::vector<double> current_position(initial_position);
-    std::vector<bool> joints_angle_wraparound(3, true);
-    joint_trajectory_controller::wraparound_joint(
-      current_position, next_position, joints_angle_wraparound);
-    EXPECT_EQ(current_position[0], initial_position[0] + 2 * M_PI);
-    EXPECT_EQ(current_position[1], initial_position[1] + 2 * M_PI);
-    EXPECT_EQ(current_position[2], initial_position[2] + 2 * M_PI);
-  }
+  std::vector<double> current_position(initial_position);
+  std::vector<bool> joints_angle_wraparound{true, false, false};
+  joint_trajectory_controller::wraparound_joint(
+    current_position, next_position, joints_angle_wraparound);
+  EXPECT_EQ(current_position[0], initial_position[0] + 2 * M_PI);
+  EXPECT_EQ(current_position[1], initial_position[1]);
+  EXPECT_EQ(current_position[2], initial_position[2]);
+}
 
-  // wraparound of all joints, but no offset
-  {
-    std::vector<double> current_position(next_position);
-    std::vector<bool> joints_angle_wraparound(3, true);
-    joint_trajectory_controller::wraparound_joint(
-      current_position, next_position, joints_angle_wraparound);
-    EXPECT_EQ(current_position[0], next_position[0]);
-    EXPECT_EQ(current_position[1], next_position[1]);
-    EXPECT_EQ(current_position[2], next_position[2]);
-  }
+TEST(TestWrapAroundJoint, wraparound_all_joints)
+{
+  const std::vector<double> initial_position(3, 0.);
+  std::vector<double> next_position(3, M_PI * 3. / 2.);
+
+  std::vector<double> current_position(initial_position);
+  std::vector<bool> joints_angle_wraparound(3, true);
+  joint_trajectory_controller::wraparound_joint(
+    current_position, next_position, joints_angle_wraparound);
+  EXPECT_EQ(current_position[0], initial_position[0] + 2 * M_PI);
+  EXPECT_EQ(current_position[1], initial_position[1] + 2 * M_PI);
+  EXPECT_EQ(current_position[2], initial_position[2] + 2 * M_PI);
+}
+
+TEST(TestWrapAroundJoint, wraparound_all_joints_no_offset)
+{
+  const std::vector<double> initial_position(3, 0.);
+  std::vector<double> next_position(3, M_PI * 3. / 2.);
+
+  std::vector<double> current_position(next_position);
+  std::vector<bool> joints_angle_wraparound(3, true);
+  joint_trajectory_controller::wraparound_joint(
+    current_position, next_position, joints_angle_wraparound);
+  EXPECT_EQ(current_position[0], next_position[0]);
+  EXPECT_EQ(current_position[1], next_position[1]);
+  EXPECT_EQ(current_position[2], next_position[2]);
 }