66 lines
2.1 KiB
C++
66 lines
2.1 KiB
C++
/*
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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_FIXED_JNT = std::string(PROJECT_SOURCE_PATH)
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+ "/test/integration/fixed_joint_reduction.urdf";
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const std::string SDF_FIXED_JNT_NO_LUMPING = std::string(PROJECT_SOURCE_PATH)
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+ "/test/integration/fixed_joint_reduction_disabled.urdf";
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/////////////////////////////////////////////////
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bool findJointInModel(const std::string &desired_joint_name, sdf::SDFPtr robot)
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{
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bool found = false;
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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 == desired_joint_name)
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{
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found = true;
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break;
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}
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}
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return found;
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}
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/////////////////////////////////////////////////
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TEST(SDFParser, DisableFixedJointReductionTest)
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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_FIXED_JNT, robot));
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sdf::SDFPtr robot_disable_lumping(new sdf::SDF());
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sdf::init(robot_disable_lumping);
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ASSERT_TRUE(sdf::readFile(SDF_FIXED_JNT_NO_LUMPING, robot_disable_lumping));
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ASSERT_FALSE(findJointInModel("joint12a", robot));
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ASSERT_FALSE(findJointInModel("joint23a", robot));
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ASSERT_TRUE(findJointInModel("joint12a", robot_disable_lumping));
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ASSERT_FALSE(findJointInModel("joint23a", robot_disable_lumping));
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}
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