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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 SDF_FIXED_JNT = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/fixed_joint_reduction.urdf";
const std::string SDF_FIXED_JNT_NO_LUMPING = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/fixed_joint_reduction_disabled.urdf";
/////////////////////////////////////////////////
bool findJointInModel(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)
{
sdf::SDFPtr robot(new sdf::SDF());
sdf::init(robot);
ASSERT_TRUE(sdf::readFile(SDF_FIXED_JNT, robot));
sdf::SDFPtr robot_disable_lumping(new sdf::SDF());
sdf::init(robot_disable_lumping);
ASSERT_TRUE(sdf::readFile(SDF_FIXED_JNT_NO_LUMPING, 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));
}
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