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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 <map>
#include "sdf/sdf.hh"
#include "test_config.h"
const std::string SDF_TEST_FILE = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/urdf_joint_parameters.urdf";
/////////////////////////////////////////////////
TEST(SDFParser, JointAxisParameters)
{
sdf::SDFPtr robot(new sdf::SDF());
sdf::init(robot);
ASSERT_TRUE(sdf::readFile(SDF_TEST_FILE, robot));
sdf::ElementPtr model = robot->Root()->GetElement("model");
ASSERT_TRUE(model->HasElement("joint"));
unsigned int bitmask = 0;
for (sdf::ElementPtr joint = model->GetElement("joint"); joint;
joint = joint->GetNextElement("joint"))
{
std::string jointName = joint->Get<std::string>("name");
double value = -1.0;
if (jointName == "jointw0")
{
bitmask |= 0x1;
value = 0.0;
}
else if (jointName == "joint01")
{
bitmask |= 0x2;
value = 1.0;
}
else
{
continue;
}
ASSERT_TRUE(joint->HasElement("axis"));
sdf::ElementPtr axis = joint->GetElement("axis");
ASSERT_TRUE(axis->HasElement("dynamics"));
sdf::ElementPtr dynamics = axis->GetElement("dynamics");
ASSERT_TRUE(dynamics->HasElement("damping"));
ASSERT_TRUE(dynamics->HasElement("friction"));
EXPECT_DOUBLE_EQ(value, dynamics->Get<double>("damping"));
EXPECT_DOUBLE_EQ(value, dynamics->Get<double>("friction"));
}
EXPECT_EQ(bitmask, 0x3u);
}
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