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/*
* 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 <gtest/gtest.h>
#include <map>
#include "sdf/sdf.hh"
#include "test_config.h"
const std::string URDF_TEST_FILE = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/cfm_damping_implicit_spring_damper.urdf";
const std::string SDF_TEST_FILE = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/cfm_damping_implicit_spring_damper.sdf";
/////////////////////////////////////////////////
TEST(SDFParser, CFMDampingSDFTest)
{
sdf::SDFPtr robot(new sdf::SDF());
sdf::init(robot);
ASSERT_TRUE(sdf::readFile(SDF_TEST_FILE, robot));
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 == "jointw1")
{
// No cfm_damping tag was specified
EXPECT_FALSE(joint->HasElement("physics"));
}
else if (jointName == "joint12a")
{
// cfm_damping = 0
ASSERT_TRUE(joint->HasElement("physics"));
sdf::ElementPtr physics = joint->GetElement("physics");
ASSERT_TRUE(physics->HasElement("ode"));
ASSERT_FALSE(physics->GetElement("ode")->HasElement(
"implicit_spring_damper"));
}
else if (jointName == "joint12b")
{
// cfm_damping = true
ASSERT_TRUE(joint->HasElement("physics"));
sdf::ElementPtr physics = joint->GetElement("physics");
ASSERT_TRUE(physics->HasElement("ode"));
ASSERT_FALSE(physics->GetElement("ode")->HasElement(
"implicit_spring_damper"));
}
else if (jointName == "joint12c")
{
// implicit_spring_damper = 0
ASSERT_TRUE(joint->HasElement("physics"));
sdf::ElementPtr physics = joint->GetElement("physics");
ASSERT_TRUE(physics->HasElement("ode"));
ASSERT_TRUE(physics->GetElement("ode")->HasElement(
"implicit_spring_damper"));
EXPECT_FALSE(physics->GetElement("ode")->Get<bool>(
"implicit_spring_damper"));
}
else if (jointName == "joint12d")
{
// implicit_spring_damper = true
ASSERT_TRUE(joint->HasElement("physics"));
sdf::ElementPtr physics = joint->GetElement("physics");
ASSERT_TRUE(physics->HasElement("ode"));
ASSERT_TRUE(physics->GetElement("ode")->HasElement(
"implicit_spring_damper"));
EXPECT_TRUE(physics->GetElement("ode")->Get<bool>(
"implicit_spring_damper"));
}
}
}
/////////////////////////////////////////////////
TEST(SDFParser, CFMDampingURDFTest)
{
sdf::SDFPtr robot(new sdf::SDF());
sdf::init(robot);
ASSERT_TRUE(sdf::readFile(URDF_TEST_FILE, robot));
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 == "jointw0")
{
// No cfm_damping tag was specified
EXPECT_FALSE(joint->HasElement("physics"));
}
else if (jointName == "joint01")
{
// cfmDamping = true
ASSERT_TRUE(joint->HasElement("physics"));
sdf::ElementPtr physics = joint->GetElement("physics");
ASSERT_TRUE(physics->HasElement("implicit_spring_damper"));
EXPECT_TRUE(physics->Get<bool>("implicit_spring_damper"));
}
else if (jointName == "joint12")
{
// cfmDamping not provided
ASSERT_TRUE(joint->HasElement("physics"));
sdf::ElementPtr physics = joint->GetElement("physics");
EXPECT_FALSE(physics->HasElement("implicit_spring_damper"));
}
else if (jointName == "joint13")
{
// implicitSpringDamper = 1
ASSERT_TRUE(joint->HasElement("physics"));
sdf::ElementPtr physics = joint->GetElement("physics");
ASSERT_TRUE(physics->HasElement("implicit_spring_damper"));
EXPECT_TRUE(physics->Get<bool>("implicit_spring_damper"));
}
}
}
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