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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 <string>
#include <gtest/gtest.h>
#include "sdf/sdf.hh"
#include "test_config.h"
const std::string SDF_TEST_FILE =
sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "integration",
"provide_feedback.urdf");
/////////////////////////////////////////////////
TEST(SDFParser, ProvideFeedbackTest)
{
sdf::SDFPtr robot(new sdf::SDF());
sdf::init(robot);
ASSERT_TRUE(sdf::readFile(SDF_TEST_FILE, robot));
sdf::ElementPtr root = robot->Root();
ASSERT_TRUE(root != nullptr);
sdf::ElementPtr model = root->GetElement("model");
ASSERT_TRUE(model != nullptr);
unsigned int jointBitMask = 0;
for (sdf::ElementPtr joint = model->GetElement("joint"); joint;
joint = joint->GetNextElement("joint"))
{
std::string jointName = joint->Get<std::string>("name");
if (jointName == "jointw0")
{
jointBitMask |= 0x1;
// No provide_feedback tag was specified
EXPECT_FALSE(joint->HasElement("physics"));
}
else if (jointName == "joint01")
{
jointBitMask |= 0x2;
// provide_feedback = 0
ASSERT_TRUE(joint->HasElement("physics"));
sdf::ElementPtr physics = joint->GetElement("physics");
ASSERT_TRUE(physics->HasElement("provide_feedback"));
EXPECT_FALSE(physics->Get<bool>("provide_feedback"));
}
else if (jointName == "joint12")
{
jointBitMask |= 0x4;
// provide_feedback = 1
ASSERT_TRUE(joint->HasElement("physics"));
sdf::ElementPtr physics = joint->GetElement("physics");
ASSERT_TRUE(physics->HasElement("provide_feedback"));
EXPECT_TRUE(physics->Get<bool>("provide_feedback"));
}
else
{
FAIL() << "Unexpected joint name[" << jointName << "]";
}
}
EXPECT_EQ(jointBitMask, 0x7u);
}
/////////////////////////////////////////////////
/// Main
int main(int argc, char **argv)
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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