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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 <sstream>
#include <string>
#include <gtest/gtest.h>
#include "sdf/sdf.hh"
#include "test_config.h"
////////////////////////////////////////////////////
/// Ensure that include sdf descriptions can be overriden
TEST(Include, IncludeDescription)
{
const std::string SDF_DESCRIPTION_PATH =
sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "integration",
"include_description.sdf");
std::ostringstream stream;
std::string version = SDF_VERSION;
stream
<< "<sdf version='" << version << "'>"
<< " <pose>0 0 0 0 0 0</pose>"
<< "</sdf>";
std::string filename = SDF_DESCRIPTION_PATH;
sdf::SDFPtr sdf(new sdf::SDF());
EXPECT_TRUE(sdf::initFile(filename, sdf));
ASSERT_TRUE(sdf::readString(stream.str(), sdf));
EXPECT_TRUE(sdf->Root()->HasElement("pose"));
sdf::ElementPtr poseElem = sdf->Root()->GetElement("pose");
EXPECT_EQ(poseElem->GetDescription(), "override");
}
/////////////////////////////////////////////////
/// Main
int main(int argc, char **argv)
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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