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kdl_parser
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Fix values in kdl_parser test

This commit is contained in:
Jackie Kay 2015-12-09 16:32:45 -08:00
parent 9869a67924
commit 612d433920
1 changed files with 5 additions and 5 deletions
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10
kdl_parser/test/test_kdl_parser.cpp
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@ -71,13 +71,13 @@ TEST_F(TestParser, test)
} }
ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree)); ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree));
ASSERT_EQ(my_tree.getNrOfJoints(), 3); ASSERT_EQ(my_tree.getNrOfJoints(), 8);
ASSERT_EQ(my_tree.getNrOfSegments(), 4); ASSERT_EQ(my_tree.getNrOfSegments(), 16);
ASSERT_TRUE(my_tree.getSegment("link1") == my_tree.getRootSegment()); ASSERT_TRUE(my_tree.getSegment("dummy_link") == my_tree.getRootSegment());
ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1); ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1);
ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment()); ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment());
ASSERT_EQ(my_tree.getSegment("base_link")->second.segment.getInertia().getMass(), 116.0); ASSERT_EQ(my_tree.getSegment("base_link")->second.segment.getInertia().getMass(), 10.0);
ASSERT_NEAR(my_tree.getSegment("base_link")->second.segment.getInertia().getRotationalInertia().data[0], 15.6107, 0.001); ASSERT_NEAR(my_tree.getSegment("base_link")->second.segment.getInertia().getRotationalInertia().data[0], 1.000, 0.001);
SUCCEED(); SUCCEED();
} }