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kdl_parser
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collada_urdf: more unit tests

This commit is contained in:
tfield 2010-04-26 19:44:55 +00:00
parent de6ad90cf1
commit 49dd64ef66
1 changed files with 42 additions and 0 deletions
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42
collada_urdf/test/test_collada_urdf.cpp
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@ -31,6 +31,17 @@
#include <gtest/gtest.h> #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) TEST(collada_urdf, collada_from_urdf_file_works)
{ {
boost::shared_ptr<DAE> dom; 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")); 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) { int main(int argc, char **argv) {
testing::InitGoogleTest(&argc, argv); testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS(); return RUN_ALL_TESTS();