87 lines
3.1 KiB
C++
87 lines
3.1 KiB
C++
// Copyright (c) 2010, Willow Garage, Inc.
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of Willow Garage, Inc. nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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/* Author: Tim Field */
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#include "collada_urdf/collada_urdf.h"
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#include <gtest/gtest.h>
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#include <fstream>
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#include <sstream>
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#include <string>
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/*
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std::string readTestUrdfString() {
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std::ifstream file("test/pr2.urdf");
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std::stringstream ss;
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ss << file.rdbuf();
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return ss.str();
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}
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TEST(collada_urdf, collada_from_urdf_file_works)
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{
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boost::shared_ptr<DAE> dom;
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ASSERT_TRUE(collada_urdf::colladaFromUrdfFile("test/pr2.urdf", dom));
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ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae"));
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}
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TEST(collada_urdf, collada_from_urdf_string_works)
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{
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std::string urdf_str = readTestUrdfString();
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boost::shared_ptr<DAE> dom;
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ASSERT_TRUE(collada_urdf::colladaFromUrdfString(urdf_str, dom));
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ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae"));
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}
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TEST(collada_urdf, collada_from_urdf_xml_works)
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{
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TiXmlDocument urdf_xml;
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ASSERT_TRUE(urdf_xml.Parse(readTestUrdfString().c_str()) > 0);
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boost::shared_ptr<DAE> dom;
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ASSERT_TRUE(collada_urdf::colladaFromUrdfXml(&urdf_xml, dom));
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ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae"));
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}
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TEST(collada_urdf, collada_from_urdf_model_works)
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{
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urdf::Model robot_model;
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TiXmlDocument urdf_xml;
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ASSERT_TRUE(urdf_xml.Parse(readTestUrdfString().c_str()) > 0);
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ASSERT_TRUE(robot_model.initXml(&urdf_xml));
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boost::shared_ptr<DAE> dom;
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ASSERT_TRUE(collada_urdf::colladaFromUrdfModel(robot_model, dom));
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ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae"));
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}
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*/
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int main(int argc, char **argv) {
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testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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