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/*
* Copyright 2015 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"
////////////////////////////////////////
// Test parsing nested model with joint
TEST(NestedModel, NestedModel)
{
std::ostringstream stream;
std::string version = "1.5";
stream
<< "<sdf version='" << version << "'>"
<< "<model name='top_level_model'>"
<< " <link name='parent'/>"
<< " <link name='child'/>"
<< " <model name='nested_model'>"
<< " <link name='nested_link01'/>"
<< " </model>"
<< " <joint name='top_level_joint' type='revolute'>"
<< " <parent>parent</parent>"
<< " <child>child</child>"
<< " <axis>"
<< " <xyz>1 0 0</xyz>"
<< " </axis>"
<< " </joint>"
<< "</model>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
// Verify correct parsing
// top level model
EXPECT_TRUE(sdfParsed->Root()->HasElement("model"));
sdf::ElementPtr modelElem = sdfParsed->Root()->GetElement("model");
EXPECT_TRUE(modelElem->HasAttribute("name"));
EXPECT_EQ(modelElem->Get<std::string>("name"), "top_level_model");
// top level links
EXPECT_TRUE(modelElem->HasElement("link"));
sdf::ElementPtr linklElem = modelElem->GetElement("link");
EXPECT_TRUE(linklElem->HasAttribute("name"));
EXPECT_EQ(linklElem->Get<std::string>("name"), "parent");
linklElem = linklElem->GetNextElement("link");
EXPECT_TRUE(linklElem != NULL);
EXPECT_TRUE(linklElem->HasAttribute("name"));
EXPECT_EQ(linklElem->Get<std::string>("name"), "child");
// nested model
EXPECT_TRUE(modelElem->HasElement("model"));
sdf::ElementPtr nestedModelElem = modelElem->GetElement("model");
// nested model link
EXPECT_TRUE(nestedModelElem->HasElement("link"));
sdf::ElementPtr nestedLinkElem = nestedModelElem->GetElement("link");
EXPECT_TRUE(nestedLinkElem->HasAttribute("name"));
EXPECT_EQ(nestedLinkElem->Get<std::string>("name"), "nested_link01");
// top level model joint
EXPECT_TRUE(modelElem->HasElement("joint"));
sdf::ElementPtr jointElem = modelElem->GetElement("joint");
EXPECT_TRUE(jointElem->HasAttribute("name"));
EXPECT_EQ(jointElem->Get<std::string>("name"), "top_level_joint");
EXPECT_TRUE(jointElem->HasAttribute("type"));
EXPECT_EQ(jointElem->Get<std::string>("type"), "revolute");
// joint links
EXPECT_TRUE(jointElem->HasElement("parent"));
EXPECT_EQ(jointElem->Get<std::string>("parent"), "parent");
EXPECT_TRUE(jointElem->HasElement("child"));
EXPECT_EQ(jointElem->Get<std::string>("child"), "child");
// joint axis
EXPECT_TRUE(jointElem->HasElement("axis"));
sdf::ElementPtr axisElem = jointElem->GetElement("axis");
EXPECT_TRUE(axisElem->HasElement("xyz"));
EXPECT_EQ(axisElem->Get<ignition::math::Vector3d>("xyz"),
ignition::math::Vector3d(1, 0, 0));
}
////////////////////////////////////////
// Test parsing nested model states
TEST(NestedModel, State)
{
std::ostringstream sdfStr;
sdfStr << "<sdf version ='" << SDF_VERSION << "'>"
<< "<world name='default'>"
<< "<state world_name='default'>"
<< "<model name='model_00'>"
<< " <pose>0 0 0.5 0 0 0</pose>"
<< " <link name='link_00'>"
<< " <pose>0 0 0.5 0 0 0</pose>"
<< " <velocity>0.001 0 0 0 0 0</velocity>"
<< " <acceleration>0 0.006121 0 0.012288 0 0.001751</acceleration>"
<< " <wrench>0 0.006121 0 0 0 0</wrench>"
<< " </link>"
<< " <model name='model_01'>"
<< " <pose>1 0 0.5 0 0 0</pose>"
<< " <link name='link_01'>"
<< " <pose>1.25 0 0.5 0 0 0</pose>"
<< " <velocity>0 -0.001 0 0 0 0</velocity>"
<< " <acceleration>0 0.000674 0 -0.001268 0 0</acceleration>"
<< " <wrench>0 0.000674 0 0 0 0</wrench>"
<< " </link>"
<< " <model name='model_02'>"
<< " <pose>1 1 0.5 0 0 0</pose>"
<< " <link name='link_02'>"
<< " <pose>1.25 1 0.5 0 0 0</pose>"
<< " <velocity>0 0 0.001 0 0 0</velocity>"
<< " <acceleration>0 0 0 0 0 0</acceleration>"
<< " <wrench>0 0 0 0 0 0</wrench>"
<< " </link>"
<< " </model>"
<< " </model>"
<< "</model>"
<< "</state>"
<< "</world>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(sdfStr.str(), sdfParsed));
// load the state sdf
EXPECT_TRUE(sdfParsed->Root()->HasElement("world"));
sdf::ElementPtr worldElem = sdfParsed->Root()->GetElement("world");
EXPECT_TRUE(worldElem->HasElement("state"));
sdf::ElementPtr stateElem = worldElem->GetElement("state");
EXPECT_TRUE(stateElem->HasElement("model"));
sdf::ElementPtr modelStateElem = stateElem->GetElement("model");
// model sdf
EXPECT_TRUE(modelStateElem->HasAttribute("name"));
EXPECT_EQ(modelStateElem->Get<std::string>("name"), "model_00");
EXPECT_TRUE(modelStateElem->HasElement("pose"));
EXPECT_EQ(modelStateElem->Get<ignition::math::Pose3d>("pose"),
ignition::math::Pose3d(0, 0, 0.5, 0, 0, 0));
EXPECT_TRUE(!modelStateElem->HasElement("joint"));
// link sdf
EXPECT_TRUE(modelStateElem->HasElement("link"));
sdf::ElementPtr linkStateElem = modelStateElem->GetElement("link");
EXPECT_TRUE(linkStateElem->HasAttribute("name"));
EXPECT_EQ(linkStateElem->Get<std::string>("name"), "link_00");
EXPECT_TRUE(linkStateElem->HasElement("pose"));
EXPECT_EQ(linkStateElem->Get<ignition::math::Pose3d>("pose"),
ignition::math::Pose3d(0, 0, 0.5, 0, 0, 0));
EXPECT_TRUE(linkStateElem->HasElement("velocity"));
EXPECT_EQ(linkStateElem->Get<ignition::math::Pose3d>("velocity"),
ignition::math::Pose3d(0.001, 0, 0, 0, 0, 0));
EXPECT_TRUE(linkStateElem->HasElement("acceleration"));
EXPECT_EQ(linkStateElem->Get<ignition::math::Pose3d>("acceleration"),
ignition::math::Pose3d(0, 0.006121, 0, 0.012288, 0, 0.001751));
EXPECT_TRUE(linkStateElem->HasElement("wrench"));
EXPECT_EQ(linkStateElem->Get<ignition::math::Pose3d>("wrench"),
ignition::math::Pose3d(0, 0.006121, 0, 0, 0, 0));
// nested model sdf
EXPECT_TRUE(modelStateElem->HasElement("model"));
sdf::ElementPtr nestedModelStateElem =
modelStateElem->GetElement("model");
EXPECT_TRUE(nestedModelStateElem->HasAttribute("name"));
EXPECT_EQ(nestedModelStateElem->Get<std::string>("name"), "model_01");
EXPECT_TRUE(nestedModelStateElem->HasElement("pose"));
EXPECT_EQ(nestedModelStateElem->Get<ignition::math::Pose3d>("pose"),
ignition::math::Pose3d(1, 0, 0.5, 0, 0, 0));
EXPECT_TRUE(!nestedModelStateElem->HasElement("joint"));
// nested model's link sdf
EXPECT_TRUE(nestedModelStateElem->HasElement("link"));
sdf::ElementPtr nestedLinkStateElem =
nestedModelStateElem->GetElement("link");
EXPECT_TRUE(nestedLinkStateElem->HasAttribute("name"));
EXPECT_EQ(nestedLinkStateElem->Get<std::string>("name"), "link_01");
EXPECT_TRUE(nestedLinkStateElem->HasElement("pose"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("pose"),
ignition::math::Pose3d(1.25, 0, 0.5, 0, 0, 0));
EXPECT_TRUE(nestedLinkStateElem->HasElement("velocity"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("velocity"),
ignition::math::Pose3d(0, -0.001, 0, 0, 0, 0));
EXPECT_TRUE(nestedLinkStateElem->HasElement("acceleration"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("acceleration"),
ignition::math::Pose3d(0, 0.000674, 0, -0.001268, 0, 0));
EXPECT_TRUE(nestedLinkStateElem->HasElement("wrench"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("wrench"),
ignition::math::Pose3d(0, 0.000674, 0, 0, 0, 0));
// double nested model sdf
EXPECT_TRUE(nestedModelStateElem->HasElement("model"));
nestedModelStateElem = nestedModelStateElem->GetElement("model");
EXPECT_TRUE(nestedModelStateElem->HasAttribute("name"));
EXPECT_EQ(nestedModelStateElem->Get<std::string>("name"), "model_02");
EXPECT_TRUE(nestedModelStateElem->HasElement("pose"));
EXPECT_EQ(nestedModelStateElem->Get<ignition::math::Pose3d>("pose"),
ignition::math::Pose3d(1, 1, 0.5, 0, 0, 0));
EXPECT_TRUE(!nestedModelStateElem->HasElement("joint"));
// double nested model's link sdf
EXPECT_TRUE(nestedModelStateElem->HasElement("link"));
nestedLinkStateElem = nestedModelStateElem->GetElement("link");
EXPECT_TRUE(nestedLinkStateElem->HasAttribute("name"));
EXPECT_EQ(nestedLinkStateElem->Get<std::string>("name"), "link_02");
EXPECT_TRUE(nestedLinkStateElem->HasElement("pose"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("pose"),
ignition::math::Pose3d(1.25, 1, 0.5, 0, 0, 0));
EXPECT_TRUE(nestedLinkStateElem->HasElement("velocity"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("velocity"),
ignition::math::Pose3d(0, 0, 0.001, 0, 0, 0));
EXPECT_TRUE(nestedLinkStateElem->HasElement("acceleration"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("acceleration"),
ignition::math::Pose3d(0, 0, 0, 0, 0, 0));
EXPECT_TRUE(nestedLinkStateElem->HasElement("wrench"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("wrench"),
ignition::math::Pose3d(0, 0, 0, 0, 0, 0));
}
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