62 lines
2.0 KiB
C++
62 lines
2.0 KiB
C++
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/*
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* Copyright 2013 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 <map>
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#include "sdf/sdf.hh"
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#include "test_config.h"
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const std::string SDF_TEST_FILE = std::string(PROJECT_SOURCE_PATH)
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+ "/test/integration/provide_feedback.urdf";
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/////////////////////////////////////////////////
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TEST(SDFParser, ProvideFeedbackTest)
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{
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sdf::SDFPtr robot(new sdf::SDF());
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sdf::init(robot);
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ASSERT_TRUE(sdf::readFile(SDF_TEST_FILE, robot));
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sdf::ElementPtr model = robot->Root()->GetElement("model");
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for (sdf::ElementPtr joint = model->GetElement("joint"); joint;
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joint = joint->GetNextElement("joint"))
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{
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std::string jointName = joint->Get<std::string>("name");
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if (jointName == "jointw0")
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{
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// No provide_feedback tag was specified
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EXPECT_FALSE(joint->HasElement("physics"));
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}
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else if (jointName == "joint01")
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{
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// provide_feedback = 0
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ASSERT_TRUE(joint->HasElement("physics"));
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sdf::ElementPtr physics = joint->GetElement("physics");
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ASSERT_TRUE(physics->HasElement("provide_feedback"));
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EXPECT_FALSE(physics->Get<bool>("provide_feedback"));
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}
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else if (jointName == "joint12")
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{
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// provide_feedback = 1
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ASSERT_TRUE(joint->HasElement("physics"));
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sdf::ElementPtr physics = joint->GetElement("physics");
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ASSERT_TRUE(physics->HasElement("provide_feedback"));
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EXPECT_TRUE(physics->Get<bool>("provide_feedback"));
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}
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}
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}
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