// Copyright (c) 2010, Willow Garage, Inc.
// All rights reserved.
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// modification, are permitted provided that the following conditions are met:
//
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//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
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//       this software without specific prior written permission.
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/* Author: Tim Field */

#include "collada_urdf/collada_urdf.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)
{
    boost::shared_ptr<DAE> dom;
    ASSERT_TRUE(collada_urdf::colladaFromUrdfFile("test/pr2.urdf", dom));
    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) {
    testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
}