151 lines
4.3 KiB
C++
151 lines
4.3 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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bool checkModel()
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{
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// get root link
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boost::shared_ptr<const Link> root_link=this->robot.getRoot();
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if (!root_link)
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{
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ROS_ERROR("no root link %s",this->robot.getName().c_str());
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return false;
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}
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// go through entire tree
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return this->traverse_tree(root_link);
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};
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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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bool traverse_tree(boost::shared_ptr<const Link> link,int level = 0)
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{
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level+=2;
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int count = 0;
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for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
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{
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if (*child)
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{
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// check rpy
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double roll,pitch,yaw;
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(*child)->parent_joint->parent_to_joint_origin_transform.rotation.getRPY(roll,pitch,yaw);
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if (isnan(roll) || isnan(pitch) || isnan(yaw))
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{
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ROS_ERROR("getRPY() returned nan!");
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return false;
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}
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// recurse down the tree
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return this->traverse_tree(*child,level);
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}
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else
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{
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ROS_ERROR("root link: %s has a null child!",link->name.c_str());
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return false;
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}
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}
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// no children
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return true;
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};
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};
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TEST_F(TestParser, test)
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{
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std::string folder = std::string(g_argv[1]) + "/test/";
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ROS_INFO("Folder %s",folder.c_str());
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for (int i=2; i<g_argc; i++){
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std::string file = g_argv[i];
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bool expect_success = (file.substr(0,5) != "fail_");
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ROS_INFO("Parsing file %d/%d called %s, expecting %d",(i-1), g_argc-1, (folder + file).c_str(), expect_success);
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if (!expect_success)
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ASSERT_FALSE(robot.initFile(folder + file));
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else
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{
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ASSERT_TRUE(robot.initFile(folder + file));
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ASSERT_TRUE(checkModel());
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}
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}
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// test reading from parameter server
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ASSERT_TRUE(robot.initParam("robot_description"));
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ASSERT_FALSE(robot.initParam("robot_description_wim"));
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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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