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kdl_parser
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update kdl parser to comply with latest urdf bugfixes

This commit is contained in:
wim 2010-06-22 22:07:27 +00:00
parent 3a32abefd9
commit fdd1094772
2 changed files with 3219 additions and 3291 deletions
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6504
kdl_parser/test/pr2_desc.xml
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6
kdl_parser/test/test_kdl_parser.cpp
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@ -73,9 +73,9 @@ 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)38); ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)42);
ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)72); ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)79);
ASSERT_TRUE(my_tree.getSegment("world") == my_tree.getRootSegment()); ASSERT_TRUE(my_tree.getSegment("base_footprint") == 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(), 116.0);