84 lines
2.8 KiB
C++
84 lines
2.8 KiB
C++
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/*
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* Copyright 2017 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 <gtest/gtest.h>
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#include <string>
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#include "sdf/sdf.hh"
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#include "test_config.h"
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////////////////////////////////////////
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// Test parsing a link element that has a child light element
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TEST(Frame, LinkLight)
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{
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std::ostringstream stream;
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std::string version = SDF_VERSION;
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stream
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<< "<sdf version='" << version << "'>"
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<< "<model name='my_model'>"
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<< " <link name='link'>"
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<< " <light type= 'point' name='my_light'>"
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<< " <pose>0.1 0 0 0 0 0</pose>"
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<< " <diffuse>0.2 0.3 0.4 1</diffuse>"
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<< " <specular>0.3 0.4 0.5 1</specular>"
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<< " </light>"
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<< " </link>"
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<< "</model>"
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<< "</sdf>";
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sdf::SDFPtr sdfParsed(new sdf::SDF());
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sdf::init(sdfParsed);
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ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
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// Verify correct parsing
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// model
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EXPECT_TRUE(sdfParsed->Root()->HasElement("model"));
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sdf::ElementPtr modelElem = sdfParsed->Root()->GetElement("model");
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EXPECT_TRUE(modelElem->HasAttribute("name"));
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EXPECT_EQ(modelElem->Get<std::string>("name"), "my_model");
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// link
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EXPECT_TRUE(modelElem->HasElement("link"));
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sdf::ElementPtr linkElem = modelElem->GetElement("link");
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EXPECT_TRUE(linkElem->HasAttribute("name"));
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EXPECT_EQ(linkElem->Get<std::string>("name"), "link");
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// light
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EXPECT_TRUE(linkElem->HasElement("light"));
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sdf::ElementPtr lightElem = linkElem->GetElement("light");
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EXPECT_TRUE(lightElem->HasAttribute("name"));
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EXPECT_EQ(lightElem->Get<std::string>("name"), "my_light");
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EXPECT_TRUE(lightElem->HasAttribute("type"));
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EXPECT_EQ(lightElem->Get<std::string>("type"), "point");
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EXPECT_TRUE(lightElem->HasElement("pose"));
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auto pose = lightElem->Get<ignition::math::Pose3d>("pose");
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EXPECT_EQ(ignition::math::Pose3d(0.1, 0, 0, 0, 0, 0), pose);
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// diffuse
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EXPECT_TRUE(lightElem->HasElement("diffuse"));
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sdf::ElementPtr diffuseElem = lightElem->GetElement("diffuse");
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EXPECT_EQ(diffuseElem->Get<sdf::Color>(), sdf::Color(0.2f, 0.3f, 0.4f, 1.0f));
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// specular
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EXPECT_TRUE(lightElem->HasElement("specular"));
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sdf::ElementPtr specularElem = lightElem->GetElement("specular");
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EXPECT_EQ(specularElem->Get<sdf::Color>(),
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sdf::Color(0.3f, 0.4f, 0.5f, 1.0f));
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}
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