99 lines
2.9 KiB
C++
99 lines
2.9 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, 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
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* 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
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from 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
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* 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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*********************************************************************/
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/* Author: Wim Meeussen */
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#include <string>
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#include <gtest/gtest.h>
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#include "urdf/model.h"
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// Including ros, just to be able to call ros::init(), to remove unwanted
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// args from command-line.
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#include <ros/ros.h>
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using namespace urdf;
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int g_argc;
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char** g_argv;
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class TestParser : public testing::Test
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{
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public:
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Model robot;
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protected:
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/// constructor
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TestParser()
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{
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}
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/// Destructor
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~TestParser()
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{
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}
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};
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TEST_F(TestParser, test)
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{
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for (int i=1; i<g_argc; i++){
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printf("\n\nprocessing file %d : %s\n",i,g_argv[i]);
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TiXmlDocument robot_model_xml;
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robot_model_xml.LoadFile(g_argv[i]);
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TiXmlElement *robot_xml = robot_model_xml.FirstChildElement("robot");
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ASSERT_TRUE(robot_xml != NULL);
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if (i >= g_argc-2)
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ASSERT_TRUE(robot.initXml(robot_xml));
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else
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ASSERT_FALSE(robot.initXml(robot_xml));
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}
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SUCCEED();
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}
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int main(int argc, char** argv)
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{
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// Calling ros::init(), just to remove unwanted args from command-line.
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ros::init(argc, argv, "test", ros::init_options::AnonymousName);
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testing::InitGoogleTest(&argc, argv);
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g_argc = argc;
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g_argv = argv;
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return RUN_ALL_TESTS();
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}
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