77 lines
2.3 KiB
C++
77 lines
2.3 KiB
C++
/*
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* Copyright 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 <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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std::string get_sdf_string(const std::string &_version)
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{
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std::ostringstream stream;
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stream
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<< "<sdf version='" << _version << "'>"
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<< "<model name='model'>"
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<< " <link name='parent'/>"
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<< " <link name='child'/>"
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<< " <joint name='joint' type='revolute'>"
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<< " <parent>parent</parent>"
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<< " <child>child</child>"
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<< " <axis>"
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<< " <xyz>1 0 0</xyz>"
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<< " </axis>"
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<< " </joint>"
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<< "</model>"
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<< "</sdf>";
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return stream.str();
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}
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////////////////////////////////////////
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// sdf model, version 1.4, use_parent_model_frame tag missing
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// expect tag to be inserted with value true
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TEST(JointAxisFrame, Version_1_4_missing)
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{
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sdf::SDFPtr model(new sdf::SDF());
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sdf::init(model);
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ASSERT_TRUE(sdf::readString(get_sdf_string("1.4"), model));
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sdf::ElementPtr joint = model->Root()->GetElement(
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"model")->GetElement("joint");
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sdf::ElementPtr axis = joint->GetElement("axis");
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axis->PrintValues("");
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EXPECT_TRUE(axis->HasElement("use_parent_model_frame"));
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EXPECT_TRUE(axis->Get<bool>("use_parent_model_frame"));
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}
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////////////////////////////////////////
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// sdf model, version 1.5, use_parent_model_frame tag missing
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// expect tag to be inserted with value false
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TEST(JointAxisFrame, Version_1_5_missing)
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{
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sdf::SDFPtr model(new sdf::SDF());
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sdf::init(model);
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ASSERT_TRUE(sdf::readString(get_sdf_string("1.5"), model));
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sdf::ElementPtr joint = model->Root()->GetElement(
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"model")->GetElement("joint");
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sdf::ElementPtr axis = joint->GetElement("axis");
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EXPECT_TRUE(axis->HasElement("use_parent_model_frame"));
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EXPECT_FALSE(axis->Get<bool>("use_parent_model_frame"));
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}
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