From 3105a9f3863eaac8af020719641c43b7ac35bcd9 Mon Sep 17 00:00:00 2001 From: meeussen Date: Tue, 22 Sep 2009 23:37:53 +0000 Subject: [PATCH] add deprecate warning at compile and at run time. Update regression tests to dom parser --- kdl_parser/include/kdl_parser/dom_parser.hpp | 7 + kdl_parser/include/kdl_parser/xml_parser.hpp | 2 + kdl_parser/src/xml_parser.cpp | 4 +- kdl_parser/test/pr2_desc.xml | 4499 +++++++----------- kdl_parser/test/test_kdl_parser.cpp | 12 +- 5 files changed, 1768 insertions(+), 2756 deletions(-) diff --git a/kdl_parser/include/kdl_parser/dom_parser.hpp b/kdl_parser/include/kdl_parser/dom_parser.hpp index 2e91c47..31d6af4 100644 --- a/kdl_parser/include/kdl_parser/dom_parser.hpp +++ b/kdl_parser/include/kdl_parser/dom_parser.hpp @@ -45,9 +45,16 @@ using namespace std; namespace kdl_parser{ +/// Constructs a KDL tree from a file, given the file name bool treeFromFile(const string& file, KDL::Tree& tree); + +/// Constructs a KDL tree from a string containing xml bool treeFromString(const string& xml, KDL::Tree& tree); + +/// Constructs a KDL tree from a TiXmlDocument bool treeFromXml(TiXmlDocument *xml_doc, KDL::Tree& tree); + +/// Constructs a KDL tree from a URDF robot model bool treeFromRobotModel(urdf::Model& robot_model, KDL::Tree& tree); } diff --git a/kdl_parser/include/kdl_parser/xml_parser.hpp b/kdl_parser/include/kdl_parser/xml_parser.hpp index 89e77e9..4ab0eb1 100644 --- a/kdl_parser/include/kdl_parser/xml_parser.hpp +++ b/kdl_parser/include/kdl_parser/xml_parser.hpp @@ -37,6 +37,8 @@ #ifndef XML_PARSER_H #define XML_PARSER_H +#warning ____YOU ARE INCLUDING THE DEPRECATED KDL PARSER. PLEASE SWITCH TO THE NEW KDL PARSER. SEE www.ros.org/wiki/kdl_parser FOR DETAILS____ + #include #include #include diff --git a/kdl_parser/src/xml_parser.cpp b/kdl_parser/src/xml_parser.cpp index 785577a..b5336ca 100644 --- a/kdl_parser/src/xml_parser.cpp +++ b/kdl_parser/src/xml_parser.cpp @@ -36,7 +36,7 @@ #include #include "kdl_parser/xml_parser.hpp" - +#include using namespace std; namespace KDL{ @@ -265,6 +265,8 @@ void addChildrenToTree(const string& root, const map& segments, bool getTree(TiXmlElement *robot_xml, Tree& tree) { + ROS_ERROR("You are using the deprecated kdl parser. Please update to the new kdl parser. See www.ros.org/wiki/kdl_parser for more details"); + cout << "Parsing robot xml" << endl; if (!robot_xml) return false; diff --git a/kdl_parser/test/pr2_desc.xml b/kdl_parser/test/pr2_desc.xml index 59c6e66..46efbc9 100644 --- a/kdl_parser/test/pr2_desc.xml +++ b/kdl_parser/test/pr2_desc.xml @@ -4,17 +4,16 @@ - - - - - - - - - - - + + + + + + + + + + true @@ -42,140 +41,116 @@ 1000.0 + - - - - - - + - + + + - - + + - - - - - - - + + + + - - - + + + - - - - base_collision - 100.0 - - true - 100.0 - base_bumper - - - - - - - - - - - + + + + + - + - - - - - - - + + + + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + - - - - 640 - 640 - 1 - 0.0 0.0 0.0 - false - - -100 - 100 - - 0.05 - 10.0 - 0.01 - 20.0 - - 0.005 - true - 20.0 - base_scan - base_laser - - - - - - + - - - - - - + + + + - + + + - + - + - - - - - + + - + - + @@ -183,148 +158,133 @@ -75.05 - + + + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - fl_caster_l_wheel_collision - 100.0 - - true - 100.0 - fl_caster_l_wheel_bumper - - - - - - + + + fl_caster_l_wheel_collision + 100.0 + + true + 100.0 + fl_caster_l_wheel_bumper + + + + + + + + + + + 75.05 - + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - fl_caster_r_wheel_collision - 100.0 - - true - 100.0 - fl_caster_r_wheel_bumper - - - - - - + + + fl_caster_r_wheel_collision + 100.0 + + true + 100.0 + fl_caster_r_wheel_bumper + + + + + + + + + + + -75.05 - + - - - - - - + + + + - + + + - + - + - - - - - + + - + - + @@ -332,148 +292,133 @@ -75.05 - + + + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - fr_caster_l_wheel_collision - 100.0 - - true - 100.0 - fr_caster_l_wheel_bumper - - - - - - + + + fr_caster_l_wheel_collision + 100.0 + + true + 100.0 + fr_caster_l_wheel_bumper + + + + + + + + + + + 75.05 - + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - fr_caster_r_wheel_collision - 100.0 - - true - 100.0 - fr_caster_r_wheel_bumper - - - - - - + + + fr_caster_r_wheel_collision + 100.0 + + true + 100.0 + fr_caster_r_wheel_bumper + + + + + + + + + + + -75.05 - + - - - - - - + + + + - + + + - + - + - - - - - + + - + - + @@ -481,148 +426,133 @@ -75.05 - + + + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - bl_caster_l_wheel_collision - 100.0 - - true - 100.0 - bl_caster_l_wheel_bumper - - - - - - + + + bl_caster_l_wheel_collision + 100.0 + + true + 100.0 + bl_caster_l_wheel_bumper + + + + + + + + + + + 75.05 - + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - bl_caster_r_wheel_collision - 100.0 - - true - 100.0 - bl_caster_r_wheel_bumper - - - - - - + + + bl_caster_r_wheel_collision + 100.0 + + true + 100.0 + bl_caster_r_wheel_bumper + + + + + + + + + + + -75.05 - + - - - - - - + + + + - + + + - + - + - - - - - + + - + - + @@ -630,2909 +560,1980 @@ -75.05 - + + + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - br_caster_l_wheel_collision - 100.0 - - true - 100.0 - br_caster_l_wheel_bumper - - - - - - + + + br_caster_l_wheel_collision + 100.0 + + true + 100.0 + br_caster_l_wheel_bumper + + + + + + + + + + + 75.05 - + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - br_caster_r_wheel_collision - 100.0 - - true - 100.0 - br_caster_r_wheel_bumper - - - - - - + + + br_caster_r_wheel_collision + 100.0 + + true + 100.0 + br_caster_r_wheel_bumper + + + + + + + + + + + -75.05 - - - + + + base_collision + 100.0 + true 100.0 - base_link - base_pose_ground_truth - 0.01 - map - 25.7 25.7 0 - 0 0 0 - - - - + base_bumper + + + + + + + + + + true + 100.0 + base_link + base_pose_ground_truth + 0.01 + map + 25.7 25.7 0 + 0 0 0 + + + + + 640 + 640 + 1 + 0.0 0.0 0.0 + false + + -100 + 100 + + 0.05 + 10.0 + 0.01 + 20.0 + + 0.005 + true + 20.0 + base_scan + base_laser + + + + + + + + true + 100.0 + plug_magnet + plug_magnet_pose_ground_truth + 0.01 + map + 0 0 0 + 0 0 0 + + + + + + + - - - - - - - -52143.33 - - + + + + + + - + + + - + - + - - - - - + + - + - + - - - - torso_lift_collision - 100.0 - - true - 100.0 - torso_lift_bumper - - - - - - + + + + -52143.33 + + + - - - - - - - 6.0 - - + + + + - + + + + - + - + - - - - - + + - + - + - - - - - - - - + + + + + 6.0 - - + + + + + + + + - + + + + - + - + - - - - - + + - + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1024 800 - 60 - 0.1 - 100 - 20.0 - - true - 20.0 - /prosilica/cam_info - /prosilica/image - /prosilica/image_rect - /prosilica/image_rect - high_def_link - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 90 - 0.1 - 100 - 20.0 - - true - 20.0 - stereo/left_image - stereo_l_stereo_camera_frame - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 90 - 0.1 - 100 - 20.0 - - true - 20.0 - stereo/right_image - stereo_r_stereo_camera_frame - - - - - - - - - true - 20.0 - stereo_l_sensor - stereo_r_sensor - stereo/raw_stereo - stereo_optical_frame - 320 - 320 - 240 - 320 - 0 - 0 - 0 - 0 - 0 - -0.09 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + 6.0 - - - - - - - + + + + + + - - - + + + - + - - + + - + - - + + + + + + + - - - - 640 - 640 - 1 - - 0.0 0.0 0.0 - false - - -80 - 80 - - 0.05 - 10.0 - 0.01 - 20.0 - - 0.005 - true - 20.0 - tilt_scan - laser_tilt_link - - - - - - - + + + + + + + + + + + + + - - + + + + + + - - - - - - - - + + - + - + + - - - - - + + + - - - - + + + + + - - - - r_shoulder_pan_collision - 100.0 - - true - 100.0 - r_shoulder_pan_bumper - - - - - - - true - - - - - 63.16 - + - - - - - - - - - - - + + + + + - + + + + - + - + + - - - - - + + + - - - - + + + + + - - - - r_shoulder_lift_collision - 100.0 - - true - 100.0 - r_r_shoulder_lift_bumper - - - - - - - true - - - - - 61.89 - + - - - - - - - - - - - - - - + + + + + + + + + - + - + + - - - - - + + - + + - + - - true - - - - - 32.65 - - + - + + + - + - + - - - - - + + - - - - + + + + - - - - r_upper_arm_collision - 100.0 - - true - 100.0 - r_upper_arm_bumper - - - - - - - - true - - - - - - - - - - - - - + + + + - + + + + - + - + + - - - - - + + - - - - + + + + + - - - - r_elbow_flex_collision - 100.0 - - true - 100.0 - r_elbow_flex_bumper - - - - - - - true - - - - - -36.17 - - - - - + - - - + + + - - - - - - - + + + + + - + - + - - - - - + + - + - + - - true - - - - - 90.5142857143 - - + - + + + + - + - + + - - - - - + + - - - - + + + + + - - - - r_forearm_collision - 100.0 - - true - 100.0 - r_forearm_bumper - - - - - - - true - - - - - - - - - - - - - + + + + - + + + + - + - + + - - - - - + + - - - - + + + + + - - - - r_wrist_flex_collision - 100.0 - - true - 100.0 - r_wrist_flex_bumper - - - - - - - true - - + - + - - - - - - - + + + - + - + - - - - - + + - + - + - - - - r_wrist_roll_collision - 100.0 - - true - 100.0 - r_wrist_roll_bumper - - - - - - - true - - + + + r_shoulder_pan_collision + 100.0 + + true + 100.0 + r_shoulder_pan_bumper + + + + + true + + + + + r_shoulder_lift_collision_geom + 100.0 + + true + 100.0 + r_r_shoulder_lift_bumper + + + + true + + + + + + true + + + + + + r_upper_arm_collision_geom + 100.0 + + true + 100.0 + r_upper_arm_bumper + + + + true + + + + r_elbow_flex_collision_geom + 100.0 + + true + 100.0 + r_elbow_flex_bumper + + + + + + + true + + + + true + + true + + r_forearm_collision + 100.0 + + true + 100.0 + r_forearm_bumper + + + + + + true + + r_wrist_flex_collision + 100.0 + + true + 100.0 + r_wrist_flex_bumper + + + + + + + + true + + r_wrist_roll_collision + 100.0 + + true + 100.0 + r_wrist_roll_bumper + + + + + + + + + 63.16 + + + + 61.89 + + + + 32.65 + + + + -36.17 + + + + 90.5142857143 + - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + - + - + - - - - - + + - - - - - + + + + - - - - - - - r_gripper_palm_collision - 100.0 - - true - 100.0 - r_gripper_palm_bumper - - - - - - - true - - - - - true - 100.0 - r_gripper_palm_link - r_gripper_palm_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + - + - - - - - + + - + - + - - true - - - - - true - 100.0 - r_gripper_tool_frame - r_gripper_tool_frame_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - - + - - - - - - - - - - - - - - - - - + + + + + + + + + - + - + - - - - - + + - - - - + + + + - - - - - - - r_gripper_l_finger_collision - 100.0 - - true - 100.0 - r_gripper_l_finger_bumper - - - - - - - true - - - - - - - - - + + + - - - - - - - - - - - - - - - - + + + + - - + - + - - - - - + + - - - - + + + + - - - - - - - r_gripper_r_finger_collision - 100.0 - - true - 100.0 - r_gripper_r_finger_bumper - - - - - - - true - - - - - - - - - + + + - - - - - - - - - - - - - - - - + + + + - - + - + - - - - - + + - - - - + + + + - - - - - - - r_gripper_l_finger_tip_collision - 100.0 - - true - 100.0 - r_gripper_l_finger_tip_bumper - - - - - - - true - - - - - - - - - - + + + - - - - - - - - - - - - - - - - + + + + - - + - + - - - - - + + - - - - + + + + - - - - - - - r_gripper_r_finger_tip_collision - 100.0 - - true - 100.0 - r_gripper_r_finger_tip_bumper - - - - - - - true - - - - - - - - - + + true + + r_gripper_l_finger_collision + 100.0 + true 100.0 - r_gripper_l_finger_link - r_gripper_l_finger_pose_ground_truth - 0.0 - map - - - + r_gripper_l_finger_bumper + + + + + + + + + + + + + + + true + + r_gripper_r_finger_collision + 100.0 + true 100.0 - r_gripper_l_finger_link - r_gripper_l_finger_force_ground_truth - r_gripper_l_finger_link - - - - - - + + + + + true + + + r_gripper_l_finger_tip_collision + 100.0 + true 100.0 - ${prefix}_l_finger_tip_link - ${prefix}_l_finger_tip_pose_ground_truth - 0.0 - map - - - + r_gripper_l_finger_tip_bumper + + + + + + + + + + + + + + + + + true + + + r_gripper_r_finger_tip_collision + 100.0 + true 100.0 - ${prefix}_l_finger_tip_link - ${prefix}_l_finger_tip_force_ground_truth - map - - - --> - - - - - - - - - - - - - - - - - - - - - - - - - + r_gripper_r_finger_tip_bumper + + + + + + + + + + + + + + + + + true + 100.0 + r_gripper_l_finger_link + r_gripper_l_finger_pose_ground_truth + 0.0 + map + + + + true + 100.0 + r_gripper_l_finger_link + r_gripper_l_finger_force_ground_truth + r_gripper_l_finger_link + + + + + + + + + + + - - + + + + true + + r_gripper_palm_collision + 100.0 + + true + 100.0 + r_gripper_palm_bumper + + + + + + true + + + r_gripper_l_finger_tip_link + r_gripper_float_link + r_gripper_l_finger_tip_link + 0 1 0 + 0 0 0 + + + r_gripper_r_finger_tip_link + r_gripper_float_link + r_gripper_r_finger_tip_link + 0 1 0 + 0 0 0 + + + + + true + 100.0 + r_gripper_palm_link + r_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + true + + + + + + + + + + + + + + + + + + + - - + + + + + + - - - - - - - - + + - + - + + - - - - - + + + - - - - + + + + + - - - - l_shoulder_pan_collision - 100.0 - - true - 100.0 - l_shoulder_pan_bumper - - - - - - - true - - - - - 63.16 - + - - - - - - - - - - - + + + + + - + + + + - + - + + - - - - - + + + - - - - + + + + + - - - - l_shoulder_lift_collision - 100.0 - - true - 100.0 - l_r_shoulder_lift_bumper - - - - - - - true - - - - - 61.89 - + - - - - - - - - - - - - - - + + + + + + + + + - + - + + - - - - - + + - + + - + - - true - - - - - 32.65 - - + - + + + - + - + - - - - - + + - - - - + + + + - - - - l_upper_arm_collision - 100.0 - - true - 100.0 - l_upper_arm_bumper - - - - - - - - true - - - - - - - - - - - - - + + + + - + + + + - + - + + - - - - - + + - - - - + + + + + - - - - l_elbow_flex_collision - 100.0 - - true - 100.0 - l_elbow_flex_bumper - - - - - - - true - - - - - -36.17 - - - - - + - - - + + + - - - - - - - + + + + + - + - + - - - - - + + - + - + - - true - - - - - 90.5142857143 - - + - + + + + - + - + + - - - - - + + - - - - + + + + + - - - - l_forearm_collision - 100.0 - - true - 100.0 - l_forearm_bumper - - - - - - - true - - - - - - - - - - - - - + + + + - + + + + - + - + + - - - - - + + - - - - + + + + + - - - - l_wrist_flex_collision - 100.0 - - true - 100.0 - l_wrist_flex_bumper - - - - - - - true - - + - + - - - - - - - + + + - + - + - - - - - + + - + - + - - - - l_wrist_roll_collision - 100.0 - - true - 100.0 - l_wrist_roll_bumper - - - - - - - true - - + + + l_shoulder_pan_collision + 100.0 + + true + 100.0 + l_shoulder_pan_bumper + + + + + true + + + + + l_shoulder_lift_collision_geom + 100.0 + + true + 100.0 + l_r_shoulder_lift_bumper + + + + true + + + + + + true + + + + + + l_upper_arm_collision_geom + 100.0 + + true + 100.0 + l_upper_arm_bumper + + + + true + + + + l_elbow_flex_collision_geom + 100.0 + + true + 100.0 + l_elbow_flex_bumper + + + + + + + true + + + + true + + true + + l_forearm_collision + 100.0 + + true + 100.0 + l_forearm_bumper + + + + + + true + + l_wrist_flex_collision + 100.0 + + true + 100.0 + l_wrist_flex_bumper + + + + + + + + true + + l_wrist_roll_collision + 100.0 + + true + 100.0 + l_wrist_roll_bumper + + + + + + + + + 63.16 + + + + 61.89 + + + + 32.65 + + + + -36.17 + + + + 90.5142857143 + - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + - + - + - - - - - + + - - - - - + + + + - - - - - - - l_gripper_palm_collision - 100.0 - - true - 100.0 - l_gripper_palm_bumper - - - - - - - true - - - - - true - 100.0 - l_gripper_palm_link - l_gripper_palm_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + - + - - - - - + + - + - + - - true - - - - - true - 100.0 - l_gripper_tool_frame - l_gripper_tool_frame_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - - + - - - - - - - - - - - - - - - - - + + + + + + + + + - + - + - - - - - + + - - - - + + + + - - - - - - - l_gripper_l_finger_collision - 100.0 - - true - 100.0 - l_gripper_l_finger_bumper - - - - - - - true - - - - - - - - - + + + - - - - - - - - - - - - - - - - + + + + - - + - + - - - - - + + - - - - + + + + - - - - - - - l_gripper_r_finger_collision - 100.0 - - true - 100.0 - l_gripper_r_finger_bumper - - - - - - - true - - - - - - - - - + + + - - - - - - - - - - - - - - - - + + + + - - + - + - - - - - + + - - - - + + + + - - - - - - - l_gripper_l_finger_tip_collision - 100.0 - - true - 100.0 - l_gripper_l_finger_tip_bumper - - - - - - - true - - - - - - - - - - + + + - - - - - - - - - - - - - - - - + + + + - - + - + - - - - - + + - - - - + + + + - - - - - - - l_gripper_r_finger_tip_collision - 100.0 - - true - 100.0 - l_gripper_r_finger_tip_bumper - - - - - - - true - - - - - - - - - + + true + + l_gripper_l_finger_collision + 100.0 + true 100.0 - l_gripper_l_finger_link - l_gripper_l_finger_pose_ground_truth - 0.0 - map - - - + l_gripper_l_finger_bumper + + + + + + + + + + + + + + + true + + l_gripper_r_finger_collision + 100.0 + true 100.0 - l_gripper_l_finger_link - l_gripper_l_finger_force_ground_truth - l_gripper_l_finger_link - - - - - - + + + + + true + + + l_gripper_l_finger_tip_collision + 100.0 + true 100.0 - ${prefix}_l_finger_tip_link - ${prefix}_l_finger_tip_pose_ground_truth - 0.0 - map - - - + l_gripper_l_finger_tip_bumper + + + + + + + + + + + + + + + + + true + + + l_gripper_r_finger_tip_collision + 100.0 + true 100.0 - ${prefix}_l_finger_tip_link - ${prefix}_l_finger_tip_force_ground_truth - map - - - --> - - - - - - - - - - - - - - - - - - - - - - - - - + l_gripper_r_finger_tip_bumper + + + + + + + + + + + + + + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_pose_ground_truth + 0.0 + map + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_force_ground_truth + l_gripper_l_finger_link + + + + + + + + + + + - - - - - - - - l_upper_arm_roll_link - r_upper_arm_roll_link - l_elbow_flex_link - r_elbow_flex_link - l_forearm_roll_link - r_forearm_roll_link - l_wrist_flex_link - r_wrist_flex_link - l_wrist_roll_link - r_wrist_roll_link - l_gripper_l_finger_link - l_gripper_r_finger_link - r_gripper_l_finger_link - r_gripper_r_finger_link - r_shoulder_pan_link - r_shoulder_lift_link - l_shoulder_pan_link - l_shoulder_lift_link - torso_lift_link - base_link - - base_link - torso_lift_link - head_pan_link - head_tilt_link - r_shoulder_pan_link - r_shoulder_lift_link - r_upper_arm_roll_link - r_upper_arm_link - r_elbow_flex_link - r_forearm_roll_link - r_forearm_link - r_wrist_flex_link - r_wrist_roll_link - r_gripper_palm_link - r_gripper_l_finger_link - r_gripper_r_finger_link - r_gripper_l_finger_tip_link - r_gripper_r_finger_tip_link - - r_forearm_link - base_link - - r_gripper_palm_link - base_link - - r_gripper_l_finger_link - base_link - - r_gripper_r_finger_link - base_link - - r_gripper_l_finger_tip_link - base_link - - r_gripper_r_finger_tip_link - base_link - - base_link - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - l_shoulder_pan_link - l_shoulder_lift_link - l_upper_arm_roll_link - l_upper_arm_link - l_elbow_flex_link - l_forearm_roll_link - l_forearm_link - l_wrist_flex_link - l_wrist_roll_link - - - - - - - - - - - - - - - - r_shoulder_pan_link - r_shoulder_lift_link - r_upper_arm_roll_link - r_upper_arm_link - r_elbow_flex_link - r_forearm_roll_link - r_forearm_link - r_wrist_flex_link - r_wrist_roll_link - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - base_link - torso_lift_link - l_shoulder_pan_link - l_shoulder_lift_link - l_upper_arm_roll_link - l_upper_arm_link - l_elbow_flex_link - l_forearm_roll_link - l_forearm_link - l_wrist_flex_link - l_wrist_roll_link - - base_link - torso_lift_link - r_shoulder_pan_link - r_shoulder_lift_link - r_upper_arm_roll_link - r_upper_arm_link - r_elbow_flex_link - r_forearm_roll_link - r_forearm_link - r_wrist_flex_link - r_wrist_roll_link - - - - - - - - - - - - - - - - l_shoulder_pan_link - l_shoulder_lift_link - l_upper_arm_roll_link - l_upper_arm_link - l_elbow_flex_link - l_forearm_roll_link - l_forearm_link - l_wrist_flex_link - l_wrist_roll_link - r_shoulder_pan_link - r_shoulder_lift_link - r_upper_arm_roll_link - r_upper_arm_link - r_elbow_flex_link - r_forearm_roll_link - r_forearm_link - r_wrist_flex_link - r_wrist_roll_link - - base_link - torso_lift_link - l_shoulder_pan_link - l_shoulder_lift_link - l_upper_arm_roll_link - l_upper_arm_link - l_elbow_flex_link - l_forearm_roll_link - l_forearm_link - l_wrist_flex_link - l_wrist_roll_link - r_shoulder_pan_link - r_shoulder_lift_link - r_upper_arm_roll_link - r_upper_arm_link - r_elbow_flex_link - r_forearm_roll_link - r_forearm_link - r_wrist_flex_link - r_wrist_roll_link - + + + + true + + l_gripper_palm_collision + 100.0 + + true + 100.0 + l_gripper_palm_bumper + + + + + + true + + + l_gripper_l_finger_tip_link + l_gripper_float_link + l_gripper_l_finger_tip_link + 0 1 0 + 0 0 0 + + + l_gripper_r_finger_tip_link + l_gripper_float_link + l_gripper_r_finger_tip_link + 0 1 0 + 0 0 0 + + + + + true + 100.0 + l_gripper_palm_link + l_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + true + + + + + + + + + + + + + + + diff --git a/kdl_parser/test/test_kdl_parser.cpp b/kdl_parser/test/test_kdl_parser.cpp index 51b6f1f..7a09bfd 100644 --- a/kdl_parser/test/test_kdl_parser.cpp +++ b/kdl_parser/test/test_kdl_parser.cpp @@ -37,9 +37,9 @@ #include #include #include -#include "kdl_parser/xml_parser.hpp" +#include "kdl_parser/dom_parser.hpp" -using namespace KDL; +using namespace kdl_parser; int g_argc; char** g_argv; @@ -47,7 +47,7 @@ char** g_argv; class TestParser : public testing::Test { public: - Tree my_tree; + KDL::Tree my_tree; protected: /// constructor @@ -72,10 +72,10 @@ TEST_F(TestParser, test) } ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree)); - ASSERT_TRUE(my_tree.getNrOfJoints() == 38); - ASSERT_TRUE(my_tree.getNrOfSegments() == 51); + ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)39); + ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)51); ASSERT_TRUE(my_tree.getSegment("world") == my_tree.getRootSegment()); - ASSERT_TRUE(my_tree.getRootSegment()->second.children.size() == 1); + ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1); ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment()); SUCCEED(); }