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/*
* Copyright 2017 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"
/////////////////////////////////////////////////
TEST(CategoryBitmask, WasSpecified)
{
std::string xmlString = R"(
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">
<model name="asdf_model">
<link name="asdf_link">
<collision name="asdf_collision">
<geometry/>
<surface>
<contact>
<category_bitmask>1234</category_bitmask>
</contact>
</surface>
</collision>
</link>
</model>
</world>
</sdf>)";
sdf::SDFPtr sdf(new sdf::SDF());
sdf::init(sdf);
ASSERT_TRUE(sdf::convertString(xmlString, "1.6", sdf));
ASSERT_NE(nullptr, sdf->Root());
ASSERT_NE(nullptr, sdf->Root()->GetElement("world"));
ASSERT_NE(nullptr, sdf->Root()->GetElement("world")->GetElement("model"));
ASSERT_NE(nullptr, sdf->Root()->GetElement("world")->GetElement("model")
->GetElement("link"));
ASSERT_NE(nullptr, sdf->Root()->GetElement("world")->GetElement("model")
->GetElement("link")->GetElement("collision")->GetElement("surface"));
ASSERT_NE(nullptr, sdf->Root()->GetElement("world")->GetElement("model")
->GetElement("link")->GetElement("collision")->GetElement("surface")
->GetElement("contact"));
sdf::ElementPtr contact = sdf->Root()->GetElement("world")
->GetElement("model") ->GetElement("link")->GetElement("collision")
->GetElement("surface")->GetElement("contact");
ASSERT_NE(nullptr, contact);
EXPECT_TRUE(contact->HasElement("category_bitmask"));
EXPECT_EQ(1234, contact->Get<int>("category_bitmask"));
}
/////////////////////////////////////////////////
TEST(CategoryBitmask, WasNotSpecified)
{
std::string xmlString = R"(
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">
<model name="asdf_model">
<link name="asdf_link">
<collision name="asdf_collision">
<geometry/>
<surface>
<contact/>
</surface>
</collision>
</link>
</model>
</world>
</sdf>)";
sdf::SDFPtr sdf(new sdf::SDF());
sdf::init(sdf);
ASSERT_TRUE(sdf::convertString(xmlString, "1.6", sdf));
ASSERT_NE(nullptr, sdf->Root());
ASSERT_NE(nullptr, sdf->Root()->GetElement("world"));
ASSERT_NE(nullptr, sdf->Root()->GetElement("world")->GetElement("model"));
ASSERT_NE(nullptr, sdf->Root()->GetElement("world")->GetElement("model")
->GetElement("link"));
ASSERT_NE(nullptr, sdf->Root()->GetElement("world")->GetElement("model")
->GetElement("link")->GetElement("collision")->GetElement("surface"));
ASSERT_NE(nullptr, sdf->Root()->GetElement("world")->GetElement("model")
->GetElement("link")->GetElement("collision")->GetElement("surface")
->GetElement("contact"));
sdf::ElementPtr contact = sdf->Root()->GetElement("world")
->GetElement("model") ->GetElement("link")->GetElement("collision")
->GetElement("surface")->GetElement("contact");
ASSERT_NE(nullptr, contact);
EXPECT_FALSE(contact->HasElement("category_bitmask"));
}
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