From 49dd64ef66d0af265038095b38ab254d39d2799b Mon Sep 17 00:00:00 2001
From: tfield <devnull@localhost>
Date: Mon, 26 Apr 2010 19:44:55 +0000
Subject: [PATCH] collada_urdf: more unit tests

---
 collada_urdf/test/test_collada_urdf.cpp | 42 +++++++++++++++++++++++++
 1 file changed, 42 insertions(+)

diff --git a/collada_urdf/test/test_collada_urdf.cpp b/collada_urdf/test/test_collada_urdf.cpp
index 895fa50..677d029 100644
--- a/collada_urdf/test/test_collada_urdf.cpp
+++ b/collada_urdf/test/test_collada_urdf.cpp
@@ -31,6 +31,17 @@
 
 #include <gtest/gtest.h>
 
+#include <fstream>
+#include <sstream>
+#include <string>
+
+std::string readTestUrdfString() {
+    std::ifstream file("test/pr2.urdf");
+    std::stringstream ss;
+    ss << file.rdbuf();
+    return ss.str();
+}
+
 TEST(collada_urdf, collada_from_urdf_file_works)
 {
     boost::shared_ptr<DAE> dom;
@@ -38,6 +49,37 @@ TEST(collada_urdf, collada_from_urdf_file_works)
     ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae"));
 }
 
+TEST(collada_urdf, collada_from_urdf_string_works)
+{
+    std::string urdf_str = readTestUrdfString();
+
+    boost::shared_ptr<DAE> dom;
+    ASSERT_TRUE(collada_urdf::colladaFromUrdfString(urdf_str, dom));
+    ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae"));
+}
+
+TEST(collada_urdf, collada_from_urdf_xml_works)
+{
+    TiXmlDocument urdf_xml;
+    ASSERT_TRUE(urdf_xml.Parse(readTestUrdfString().c_str()) > 0);
+
+    boost::shared_ptr<DAE> dom;
+    ASSERT_TRUE(collada_urdf::colladaFromUrdfXml(&urdf_xml, dom));
+    ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae"));
+}
+
+TEST(collada_urdf, collada_from_urdf_model_works)
+{
+    urdf::Model robot_model;
+    TiXmlDocument urdf_xml;
+    ASSERT_TRUE(urdf_xml.Parse(readTestUrdfString().c_str()) > 0);
+    ASSERT_TRUE(robot_model.initXml(&urdf_xml));
+
+    boost::shared_ptr<DAE> dom;
+    ASSERT_TRUE(collada_urdf::colladaFromUrdfModel(robot_model, dom));
+    ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae"));
+}
+
 int main(int argc, char **argv) {
     testing::InitGoogleTest(&argc, argv);
     return RUN_ALL_TESTS();