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kdl_parser
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Do a few cleanup tasks in collada_urdf (#183) 

* Style cleanup within collada_urdf.

No functional change, just style.

Signed-off-by: Chris Lalancette <clalancette@osrfoundation.org>

* Make sure to quit out of urdf_to_collada when invalid file is found.

Otherwise, we'll just end up segfaulting later on.

Signed-off-by: Chris Lalancette <clalancette@osrfoundation.org>

* Re-enable one of the collada-urdf tests.

In point of fact, we delete the rest of the tests because
they don't make much sense anymore.  Just enable this one
for now; we'll enable further ones in the future.

Signed-off-by: Chris Lalancette <clalancette@osrfoundation.org>

* Add in another test for collada_urdf.

Signed-off-by: Chris Lalancette <clalancette@osrfoundation.org>
This commit is contained in:
Chris Lalancette 2017-02-01 16:53:04 -05:00 committed by GitHub
parent fc71f00e33
commit 4d03177186
4 changed files with 138 additions and 164 deletions
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4
collada_urdf/CMakeLists.txt
View File

@ -75,8 +75,8 @@ set_target_properties(collada_to_urdf PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FL
set_target_properties(collada_to_urdf PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}")
if(CATKIN_ENABLE_TESTING)
catkin_add_gtest(test_collada_writer test/test_collada_urdf.cpp)
target_link_libraries(test_collada_writer ${PROJECT_NAME} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
catkin_add_gtest(test_collada_urdf test/test_collada_urdf.cpp WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test)
target_link_libraries(test_collada_urdf ${PROJECT_NAME} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
${Boost_LIBRARIES})
endif()

22
collada_urdf/src/collada_urdf.cpp
View File

@ -949,17 +949,17 @@ protected:
// Declare all the joints
_mapjointindices.clear();
int index=0;
int index = 0;
FOREACHC(itj, _robot.joints_) {
_mapjointindices[itj->second] = index++;
}
_maplinkindices.clear();
index=0;
index = 0;
FOREACHC(itj, _robot.links_) {
_maplinkindices[itj->second] = index++;
}
_mapmaterialindices.clear();
index=0;
index = 0;
FOREACHC(itj, _robot.materials_) {
_mapmaterialindices[itj->second] = index++;
}
@ -980,8 +980,8 @@ protected:
pdomjoint->setName(pjoint->name.c_str());
domAxis_constraintRef axis;
if( !!pjoint->limits ) {
lmin=pjoint->limits->lower;
lmax=pjoint->limits->upper;
lmin = pjoint->limits->lower;
lmax = pjoint->limits->upper;
}
else {
lmin = lmax = 0;
@ -993,8 +993,8 @@ protected:
case urdf::Joint::CONTINUOUS:
axis = daeSafeCast<domAxis_constraint>(pdomjoint->add(COLLADA_ELEMENT_REVOLUTE));
fmult = 180.0f/M_PI;
lmin*=fmult;
lmax*=fmult;
lmin *= fmult;
lmax *= fmult;
break;
case urdf::Joint::PRISMATIC:
axis = daeSafeCast<domAxis_constraint>(pdomjoint->add(COLLADA_ELEMENT_PRISMATIC));
@ -1176,7 +1176,8 @@ protected:
if ( it != plink->visual_array.begin() ) {
urdf::Pose org_trans = _poseMult(geometry_origin_inv, (*it)->origin);
pdomgeom = _WriteGeometry((*it)->geometry, geomid, &org_trans);
} else {
}
else {
pdomgeom = _WriteGeometry((*it)->geometry, geomid);
}
domInstance_geometryRef pinstgeom = daeSafeCast<domInstance_geometry>(pnode->add(COLLADA_ELEMENT_INSTANCE_GEOMETRY));
@ -1576,7 +1577,8 @@ protected:
parray->getValue().append(nv.x);
parray->getValue().append(nv.y);
parray->getValue().append(nv.z);
} else {
}
else {
parray->getValue().append(p.x*scale.x);
parray->getValue().append(p.y*scale.y);
parray->getValue().append(p.z*scale.z);
@ -1935,7 +1937,7 @@ ColladaUrdfException::ColladaUrdfException(std::string const& what)
}
bool WriteUrdfModelToColladaFile(urdf::Model const& robot_model, string const& file) {
ColladaWriter writer(robot_model,0);
ColladaWriter writer(robot_model, 0);
if ( ! writer.convert() ) {
std::cerr << std::endl << "Error converting document" << std::endl;
return -1;

3
collada_urdf/src/urdf_to_collada.cpp
View File

@ -57,7 +57,8 @@ int main(int argc, char** argv)
urdf::Model robot_model;
if( !robot_model.initFile(input_filename) ) {
ROS_ERROR("failed to open urdf file %s",input_filename.c_str());
ROS_ERROR("failed to open urdf file %s", input_filename.c_str());
return -2;
}
collada_urdf::WriteUrdfModelToColladaFile(robot_model, output_filename);

45
collada_urdf/test/test_collada_urdf.cpp
View File

@ -34,52 +34,23 @@
#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;
ASSERT_TRUE(collada_urdf::colladaFromUrdfFile("test/pr2.urdf", dom));
ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae"));
urdf::Model robot_model;
ASSERT_TRUE(robot_model.initFile("pr2.urdf"));
ASSERT_TRUE(collada_urdf::WriteUrdfModelToColladaFile(robot_model, "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)
TEST(collada_urdf, collada_output_dir_does_not_exist)
{
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"));
ASSERT_TRUE(robot_model.initFile("pr2.urdf"));
ASSERT_FALSE(collada_urdf::WriteUrdfModelToColladaFile(robot_model, "a/very/long/directory/path/that/should/not/exist/pr2.dae"));
}
*/
int main(int argc, char **argv) {
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();