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test_robot_model_parser.cpp

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/* Author: Wim Meeussen */

#include <string>
#include <gtest/gtest.h>
#include "urdf/model.h"

// Including ros, just to be able to call ros::init(), to remove unwanted
// args from command-line.
#include <ros/ros.h>

using namespace urdf;

int g_argc;
char** g_argv;

class TestParser : public testing::Test
{
public:
  Model robot;

  bool checkModel()
  {
    // get root link
    boost::shared_ptr<const Link> root_link=this->robot.getRoot();
    if (!root_link)
    {
      ROS_ERROR("no root link %s",this->robot.getName().c_str());
      return false;
    }

    // go through entire tree
    return this->traverse_tree(root_link); 

  };

protected:
  TestParser()
  {
  }


  ~TestParser()
  {
  }

  bool traverse_tree(boost::shared_ptr<const Link> link,int level = 0)
  {
    level+=2;
    for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
    {
      if (*child)
      {
        // check rpy
        double roll,pitch,yaw;
        (*child)->parent_joint->parent_to_joint_origin_transform.rotation.getRPY(roll,pitch,yaw);

        if (isnan(roll) || isnan(pitch) || isnan(yaw))
        {
          ROS_ERROR("getRPY() returned nan!");
          return false;
        }
        // recurse down the tree
        return this->traverse_tree(*child,level);
      }
      else
      {
        ROS_ERROR("root link: %s has a null child!",link->name.c_str());
        return false;
      }
    }
    // no children
    return true;
  };
};




TEST_F(TestParser, test)
{
  std::string folder = std::string(g_argv[1]) + "/test/";
  ROS_INFO("Folder %s",folder.c_str());
  for (int i=2; i<g_argc; i++){
    std::string file = g_argv[i];
    bool expect_success = (file.substr(0,5)  != "fail_");
    ROS_INFO("Parsing file %d/%d called %s, expecting %d",(i-1), g_argc-1, (folder + file).c_str(), expect_success);
    if (!expect_success)
      ASSERT_FALSE(robot.initFile(folder + file));
    else
    {
      ASSERT_TRUE(robot.initFile(folder + file));
      ASSERT_TRUE(checkModel());
    }
  }

  // test reading from parameter server
  ASSERT_TRUE(robot.initParam("robot_description"));
  ASSERT_FALSE(robot.initParam("robot_description_wim"));
  SUCCEED();
}




int main(int argc, char** argv)
{
  // Calling ros::init(), just to remove unwanted args from command-line.
  ros::init(argc, argv, "test", ros::init_options::AnonymousName);
  testing::InitGoogleTest(&argc, argv);
  g_argc = argc;
  g_argv = argv;
  return RUN_ALL_TESTS();
}

---

urdf
Author(s): Wim Meeussen, John Hsu, Rosen Diankov
autogenerated on Tue Mar 5 12:16:56 2013