1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
|
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Wim Meeussen */
#include <gtest/gtest.h>
#include <ros/ros.h>
#include "kdl_parser/kdl_parser.hpp"
int g_argc;
char ** g_argv;
class TestParser : public testing::Test
{
public:
KDL::Tree my_tree;
protected:
/// constructor
TestParser()
{
}
/// Destructor
~TestParser()
{
}
};
TEST_F(TestParser, test) {
for (int i = 1; i < g_argc - 2; i++) {
ROS_ERROR("Testing file %s", g_argv[i]);
ASSERT_FALSE(kdl_parser::treeFromFile(g_argv[i], my_tree));
}
ASSERT_TRUE(kdl_parser::treeFromFile(g_argv[g_argc - 1], my_tree));
ASSERT_EQ(8, my_tree.getNrOfJoints());
ASSERT_EQ(16, my_tree.getNrOfSegments());
ASSERT_TRUE(my_tree.getSegment("dummy_link") == my_tree.getRootSegment());
ASSERT_EQ((unsigned int)1, my_tree.getRootSegment()->second.children.size());
ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment());
ASSERT_EQ(10.0, my_tree.getSegment("base_link")->second.segment.getInertia().getMass());
ASSERT_NEAR(1.000, my_tree.getSegment(
"base_link")->second.segment.getInertia().getRotationalInertia().data[0], 0.001);
SUCCEED();
}
int main(int argc, char ** argv)
{
testing::InitGoogleTest(&argc, argv);
ros::init(argc, argv, "test_kdl_parser");
g_argc = argc;
g_argv = argv;
return RUN_ALL_TESTS();
}
|
