85 lines
2.5 KiB
C++
85 lines
2.5 KiB
C++
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/*
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* Copyright (C) 2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <string.h>
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class ModelTest : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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// This tests getting links from a model.
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TEST_F(ModelTest, GetLinksV)
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{
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Load("worlds/joint_test.world");
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physics::ModelPtr model = GetModel("model_1");
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// This for-loop would cause a seg-fault in gazebo 3.0 and before.
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for (physics::Link_V::const_iterator iter = model->GetLinks().begin();
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iter != model->GetLinks().end(); ++iter)
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{
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EXPECT_TRUE(*iter != NULL);
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EXPECT_FALSE((*iter)->GetName().empty());
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EXPECT_STREQ((*iter)->GetName().c_str(), "link_1");
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}
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EXPECT_EQ(model->GetLinks().size(), 1u);
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}
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/////////////////////////////////////////////////
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// This tests getting the scoped name of a model.
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TEST_F(ModelTest, GetScopedName)
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{
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Load("worlds/simple_arm_test.world");
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physics::ModelPtr model = GetModel("simple_arm");
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std::string modelName = model->GetScopedName();
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EXPECT_EQ(modelName, std::string("simple_arm"));
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modelName = model->GetScopedName(true);
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EXPECT_EQ(modelName, std::string("default::simple_arm"));
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}
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/////////////////////////////////////////////////
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// This tests creating new links within a model.
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TEST_F(ModelTest, CreateLink)
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{
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Load("worlds/joint_test.world");
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physics::ModelPtr model = GetModel("model_1");
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const std::string linkName = "link_name";
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physics::LinkPtr link = model->CreateLink(linkName);
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ASSERT_TRUE(link != NULL);
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EXPECT_EQ(link->GetName(), linkName);
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EXPECT_EQ(link, model->GetLink(linkName));
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// Make sure we cannot create a second link with the same name
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physics::LinkPtr link2 = model->CreateLink(linkName);
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EXPECT_TRUE(link2 == NULL);
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// GetLink should still return the original link
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EXPECT_EQ(link, model->GetLink(linkName));
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}
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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