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
|
/*
* Copyright 2013 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <string>
#include <gtest/gtest.h>
#include "sdf/sdf.hh"
#include "test_config.h"
/////////////////////////////////////////////////
bool findJointInModel(const std::string &desired_joint_name, sdf::SDFPtr robot)
{
bool found = false;
sdf::ElementPtr model = robot->Root()->GetElement("model");
for (sdf::ElementPtr joint = model->GetElement("joint"); joint;
joint = joint->GetNextElement("joint"))
{
std::string jointName = joint->Get<std::string>("name");
if (jointName == desired_joint_name)
{
found = true;
break;
}
}
return found;
}
/////////////////////////////////////////////////
TEST(SDFParser, DisableFixedJointReductionTest)
{
const std::string sdfFixedJntFile =
sdf::testing::TestFile("integration", "fixed_joint_reduction.urdf");
const std::string sdfFixedJntNoLumpingFile = sdf::testing::TestFile(
"integration", "fixed_joint_reduction_disabled.urdf");
sdf::SDFPtr robot(new sdf::SDF());
sdf::init(robot);
ASSERT_TRUE(sdf::readFile(sdfFixedJntFile, robot));
sdf::SDFPtr robot_disable_lumping(new sdf::SDF());
sdf::init(robot_disable_lumping);
ASSERT_TRUE(sdf::readFile(sdfFixedJntNoLumpingFile, robot_disable_lumping));
ASSERT_FALSE(findJointInModel("joint12a", robot));
ASSERT_FALSE(findJointInModel("joint23a", robot));
ASSERT_TRUE(findJointInModel("joint12a", robot_disable_lumping));
ASSERT_FALSE(findJointInModel("joint23a", robot_disable_lumping));
}
|
