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kdl_parser
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update test to latest robot description

This commit is contained in:
wim 2009-11-19 21:33:45 +00:00
parent 630eb4fdb1
commit bde8626044
2 changed files with 1031 additions and 960 deletions
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1987
kdl_parser/test/pr2_desc.xml
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4
kdl_parser/test/test_kdl_parser.cpp
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@ -72,8 +72,8 @@ 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(), (unsigned int)40); ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)38);
ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)71); ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)72);
ASSERT_TRUE(my_tree.getSegment("world") == my_tree.getRootSegment()); ASSERT_TRUE(my_tree.getSegment("world") == 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());