101 lines
3.9 KiB
C++
101 lines
3.9 KiB
C++
/*
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* Copyright 2015 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 URDF_TEST_FILE = std::string(PROJECT_SOURCE_PATH)
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+ "/test/integration/urdf_gazebo_extensions.urdf";
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/////////////////////////////////////////////////
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TEST(SDFParser, UrdfGazeboExtensionURDFTest)
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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(URDF_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 cfm_damping 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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// cfmDamping = true
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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("ode"));
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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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ASSERT_TRUE(physics->HasElement("ode"));
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sdf::ElementPtr ode = physics->GetElement("ode");
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ASSERT_TRUE(ode->HasElement("provide_feedback"));
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EXPECT_TRUE(ode->Get<bool>("provide_feedback"));
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ASSERT_TRUE(ode->HasElement("implicit_spring_damper"));
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EXPECT_TRUE(!ode->Get<bool>("implicit_spring_damper"));
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ASSERT_TRUE(ode->HasElement("cfm_damping"));
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EXPECT_TRUE(!ode->Get<bool>("cfm_damping"));
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ASSERT_TRUE(ode->HasElement("fudge_factor"));
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EXPECT_DOUBLE_EQ(ode->Get<double>("fudge_factor"), 0.56789);
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ASSERT_TRUE(ode->HasElement("limit"));
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sdf::ElementPtr limit = ode->GetElement("limit");
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ASSERT_TRUE(limit->HasElement("cfm"));
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EXPECT_DOUBLE_EQ(limit->Get<double>("cfm"), 123);
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ASSERT_TRUE(limit->HasElement("erp"));
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EXPECT_DOUBLE_EQ(limit->Get<double>("erp"), 0.987);
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ASSERT_TRUE(joint->HasElement("axis"));
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sdf::ElementPtr axis = joint->GetElement("axis");
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ASSERT_TRUE(axis->HasElement("dynamics"));
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sdf::ElementPtr dynamics = axis->GetElement("dynamics");
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ASSERT_TRUE(dynamics->HasElement("damping"));
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EXPECT_DOUBLE_EQ(dynamics->Get<double>("damping"), 1.1111);
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ASSERT_TRUE(dynamics->HasElement("friction"));
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EXPECT_DOUBLE_EQ(dynamics->Get<double>("friction"), 2.2222);
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ASSERT_TRUE(dynamics->HasElement("spring_reference"));
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EXPECT_DOUBLE_EQ(dynamics->Get<double>("spring_reference"), 0.234);
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ASSERT_TRUE(dynamics->HasElement("spring_stiffness"));
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EXPECT_DOUBLE_EQ(dynamics->Get<double>("spring_stiffness"), 0.567);
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}
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else if (jointName == "joint12")
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{
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// cfmDamping not provided
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ASSERT_TRUE(joint->HasElement("physics"));
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sdf::ElementPtr physics = joint->GetElement("physics");
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EXPECT_FALSE(physics->HasElement("implicit_spring_damper"));
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}
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else if (jointName == "joint13")
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{
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// implicitSpringDamper = 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("implicit_spring_damper"));
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EXPECT_TRUE(physics->Get<bool>("implicit_spring_damper"));
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}
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}
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}
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