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/*
* Copyright 2014 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 <string>
#include "sdf/sdf.hh"
#include "test_config.h"
std::string get_sdf_string(std::string _version)
{
std::ostringstream stream;
stream
<< "<sdf version='" << _version << "'>"
<< "<model name='model'>"
<< " <link name='parent'/>"
<< " <link name='child'/>"
<< " <joint name='joint' type='revolute'>"
<< " <parent>parent</parent>"
<< " <child>child</child>"
<< " <axis>"
<< " <xyz>1 0 0</xyz>"
<< " </axis>"
<< " </joint>"
<< "</model>"
<< "</sdf>";
return stream.str();
}
////////////////////////////////////////
// sdf model, version 1.4, use_parent_model_frame tag missing
// expect tag to be inserted with value true
TEST(JointAxisFrame, Version_1_4_missing)
{
sdf::SDFPtr model(new sdf::SDF());
sdf::init(model);
ASSERT_TRUE(sdf::readString(get_sdf_string("1.4"), model));
sdf::ElementPtr joint = model->Root()->GetElement(
"model")->GetElement("joint");
sdf::ElementPtr axis = joint->GetElement("axis");
axis->PrintValues("");
EXPECT_TRUE(axis->HasElement("use_parent_model_frame"));
EXPECT_TRUE(axis->Get<bool>("use_parent_model_frame"));
}
////////////////////////////////////////
// sdf model, version 1.5, use_parent_model_frame tag missing
// expect tag to be inserted with value false
TEST(JointAxisFrame, Version_1_5_missing)
{
sdf::SDFPtr model(new sdf::SDF());
sdf::init(model);
ASSERT_TRUE(sdf::readString(get_sdf_string("1.5"), model));
sdf::ElementPtr joint = model->Root()->GetElement(
"model")->GetElement("joint");
sdf::ElementPtr axis = joint->GetElement("axis");
EXPECT_TRUE(axis->HasElement("use_parent_model_frame"));
EXPECT_FALSE(axis->Get<bool>("use_parent_model_frame"));
}
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