Fix init-ending overwrite and add test code

hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l

@@ -3,6 +3,8 @@
 
 (unless (assoc :init-org (send hrp2jsknt-robot :methods))
   (rplaca (assoc :init (send hrp2jsknt-robot :methods)) :init-org))
+(unless (assoc :init-ending-org (send hrp2jsknt-robot :methods))
+  (rplaca (assoc :init-ending (send hrp2jsknt-robot :methods)) :init-ending-org))
 (eval
  `(defmethod hrp2jsknt-robot
     ,@(get-hrp2-with-hand-class-methods)))
@@ -11,9 +13,8 @@
   (:init-ending
    (&rest args)
    (prog1
-       (send-super* :init-ending args)
+       (send* self :init-ending-org args)
      (send self :set-additional-end-coords)
-     (send self :define-min-max-table)
      ))
   (:inverse-kinematics
    (target-coords

hrpsys_ros_bridge_tutorials/euslisp/jaxon-utils.l

@@ -1,11 +1,14 @@
 (require :jaxon "package://hrpsys_ros_bridge_tutorials/models/jaxon.l")
 (require :thkhand-utils "package://hrpsys_ros_bridge_tutorials/euslisp/thkhand-utils.l")
 
+(unless (assoc :init-ending-org (send JAXON-robot :methods))
+  (rplaca (assoc :init-ending (send JAXON-robot :methods)) :init-ending-org))
+
 (defmethod JAXON-robot
   (:init-ending
    (&rest args)
    (prog1
-       (send-super* :init-ending args)
+       (send* self :init-ending-org args)
      (send self :add-hoist-point-coords)
      (send self :add-shin-cushion-parts)
      (send self :add-shin-contact-coords)

hrpsys_ros_bridge_tutorials/euslisp/jaxon_red-utils.l

@@ -1,11 +1,14 @@
 (require :jaxon "package://hrpsys_ros_bridge_tutorials/models/jaxon_red.l")
 (require :thkhand-utils "package://hrpsys_ros_bridge_tutorials/euslisp/thkhand-utils.l")
 
+(unless (assoc :init-ending-org (send JAXON_RED-robot :methods))
+  (rplaca (assoc :init-ending (send JAXON_RED-robot :methods)) :init-ending-org))
+
 (defmethod JAXON_RED-robot
   (:init-ending
    (&rest args)
    (prog1
-       (send-super* :init-ending args)
+       (send* self :init-ending-org args)
      (send self :add-hoist-point-coords)
      (send self :add-shin-cushion-parts)
      (send self :add-shin-contact-coords)

hrpsys_ros_bridge_tutorials/euslisp/staro-utils.l

@@ -61,11 +61,14 @@
    )
   )
 
+(unless (assoc :init-ending-org (send STARO-robot :methods))
+  (rplaca (assoc :init-ending (send STARO-robot :methods)) :init-ending-org))
+
 (defmethod STARO-robot
   (:init-ending
    (&rest args)
    (prog1
-    (send-super* :init-ending args)
+    (send* self :init-ending-org args)
     (send self :add-additional-body-parts)
 
     ;; add contact-end-coords to arms

hrpsys_ros_bridge_tutorials/test/test-all-robots-check.l

@@ -0,0 +1,25 @@
+#!/usr/bin/env roseus
+
+(require :unittest "lib/llib/unittest.l")
+(init-unit-test)
+
+(setq *all-robots* '(hrp2jsk hrp2jsknt hrp2jsknts hrp2w hrp2g urataleg jaxon jaxon_red chidori ystleg hrp4r staro))
+
+(deftest test-model-gen
+  (dolist (rb *all-robots*)
+    (load (format nil "package://hrpsys_ros_bridge_tutorials/euslisp/~A-interface.l" rb))
+    (format t ";; ~A done~%" (send (funcall rb) :name))
+    )
+  (assert t))
+
+(deftest test-joint-min-max-check
+  (dolist (rb *all-robots*)
+    (let ((check0 (not (not (find-method (eval (read-from-string (format nil "*~A*" rb))) :define-min-max-table))))
+          (check1 (not (not (find-if #'(lambda (j) (send j :joint-min-max-table)) (send (eval (read-from-string (format nil "*~A*" rb))) :joint-list))))))
+      (format t ";; ~10,A (has :define-min-max-table = ~3,A) (has min/max table = ~3,A) (total = ~3,A)~%"
+              rb check0 check1 (eq check0 check1))
+      (assert (eq check0 check1))
+      )))
+
+(run-all-tests)
+(exit)