test_parser.cpp

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/* Author: Ioan Sucan */
 
#include <srdfdom/model.h>
#include <srdfdom/srdf_writer.h>
#include <urdf_parser/urdf_parser.h>
#include <fstream>
#include <stdexcept>
#include <gtest/gtest.h>
 
#ifndef TEST_RESOURCE_LOCATION
#define TEST_RESOURCE_LOCATION "."
#endif
 
struct ScopedLocale
{
  ScopedLocale(const char* name = "C")
  {
    backup_ = setlocale(LC_ALL, nullptr);  // store current locale
    setlocale(LC_ALL, name);
  }
  ~ScopedLocale()
  {
    setlocale(LC_ALL, backup_.c_str());  // restore locale
  }
  std::string backup_;
};
 
urdf::ModelInterfaceSharedPtr loadURDF(const std::string& filename)
{
  ScopedLocale l("C");
  // get the entire file
  std::string xml_string;
  std::fstream xml_file(filename.c_str(), std::fstream::in);
  if (xml_file.is_open())
  {
    while (xml_file.good())
    {
      std::string line;
      std::getline(xml_file, line);
      xml_string += (line + "\n");
    }
    xml_file.close();
    return urdf::parseURDF(xml_string);
  }
  else
  {
    throw std::runtime_error("Could not open file " + filename + " for parsing.");
    return urdf::ModelInterfaceSharedPtr();
  }
}
 
TEST(TestCpp, testSimple)
{
  srdf::Model s;
  urdf::ModelInterfaceSharedPtr u = loadURDF(std::string(TEST_RESOURCE_LOCATION) + "/pr2_desc.urdf");
  ASSERT_TRUE(u != NULL);
 
  EXPECT_TRUE(s.initFile(*u, std::string(TEST_RESOURCE_LOCATION) + "/pr2_desc.1.srdf"));
  EXPECT_TRUE(s.getVirtualJoints().size() == 0);
  EXPECT_TRUE(s.getGroups().size() == 0);
  EXPECT_TRUE(s.getGroupStates().size() == 0);
  EXPECT_TRUE(s.getDisabledCollisionPairs().empty());
  EXPECT_TRUE(s.getEnabledCollisionPairs().empty());
  EXPECT_TRUE(s.getEndEffectors().size() == 0);
 
  EXPECT_TRUE(s.initFile(*u, std::string(TEST_RESOURCE_LOCATION) + "/pr2_desc.2.srdf"));
  EXPECT_TRUE(s.getVirtualJoints().size() == 1);
  EXPECT_TRUE(s.getGroups().size() == 1);
  EXPECT_TRUE(s.getGroupStates().size() == 0);
  EXPECT_TRUE(s.getDisabledCollisionPairs().empty());
  EXPECT_TRUE(s.getEnabledCollisionPairs().empty());
  EXPECT_TRUE(s.getEndEffectors().size() == 0);
 
  EXPECT_TRUE(s.initFile(*u, std::string(TEST_RESOURCE_LOCATION) + "/pr2_desc.1.srdf"));
  EXPECT_TRUE(s.getVirtualJoints().size() == 0);
  EXPECT_TRUE(s.getGroups().size() == 0);
  EXPECT_TRUE(s.getGroupStates().size() == 0);
  EXPECT_TRUE(s.getDisabledCollisionPairs().empty());
  EXPECT_TRUE(s.getEnabledCollisionPairs().empty());
  EXPECT_TRUE(s.getEndEffectors().size() == 0);
}
 
TEST(TestCpp, testComplex)
{
  srdf::Model s;
  urdf::ModelInterfaceSharedPtr u = loadURDF(std::string(TEST_RESOURCE_LOCATION) + "/pr2_desc.urdf");
  EXPECT_TRUE(u != NULL);
 
  EXPECT_TRUE(s.initFile(*u, std::string(TEST_RESOURCE_LOCATION) + "/pr2_desc.3.srdf"));
  EXPECT_TRUE(s.getVirtualJoints().size() == 1);
  EXPECT_TRUE(s.getGroups().size() == 7);
  EXPECT_TRUE(s.getGroupStates().size() == 2);
  EXPECT_TRUE(s.getDisabledCollisionPairs().size() == 2);
  EXPECT_TRUE(s.getDisabledCollisionPairs()[0].reason_ == "adjacent");
  EXPECT_TRUE(s.getEndEffectors().size() == 2);
 
  EXPECT_TRUE(s.getVirtualJoints()[0].name_ == "world_joint");
  EXPECT_TRUE(s.getVirtualJoints()[0].type_ == "planar");
  for (std::size_t i = 0; i < s.getGroups().size(); ++i)
  {
    if (s.getGroups()[i].name_ == "left_arm" || s.getGroups()[i].name_ == "right_arm")
    {
      EXPECT_TRUE(s.getGroups()[i].chains_.size() == 1);
    }
    if (s.getGroups()[i].name_ == "arms")
    {
      EXPECT_TRUE(s.getGroups()[i].subgroups_.size() == 2);
    }
    if (s.getGroups()[i].name_ == "base")
    {
      EXPECT_TRUE(s.getGroups()[i].joints_.size() == 1);
    }
    if (s.getGroups()[i].name_ == "l_end_effector" || s.getGroups()[i].name_ == "r_end_effector")
    {
      EXPECT_TRUE(s.getGroups()[i].links_.size() == 1);
      EXPECT_TRUE(s.getGroups()[i].joints_.size() == 9);
    }
    if (s.getGroups()[i].name_ == "whole_body")
    {
      EXPECT_TRUE(s.getGroups()[i].joints_.size() == 1);
      EXPECT_TRUE(s.getGroups()[i].subgroups_.size() == 2);
    }
  }
  int index = 0;
  if (s.getGroupStates()[0].group_ != "arms")
    index = 1;
 
  EXPECT_TRUE(s.getGroupStates()[index].group_ == "arms");
  EXPECT_TRUE(s.getGroupStates()[index].name_ == "tuck_arms");
  EXPECT_TRUE(s.getGroupStates()[1 - index].group_ == "base");
  EXPECT_TRUE(s.getGroupStates()[1 - index].name_ == "home");
 
  const std::vector<double>& v = s.getGroupStates()[index].joint_values_.find("l_shoulder_pan_joint")->second;
  EXPECT_EQ(v.size(), 1u);
  EXPECT_EQ(v[0], 0.2);
  const std::vector<double>& w = s.getGroupStates()[1 - index].joint_values_.find("world_joint")->second;
  EXPECT_EQ(w.size(), 3u);
  EXPECT_EQ(w[0], 0.4);
  EXPECT_EQ(w[1], 0);
  EXPECT_EQ(w[2], -1);
 
  index = (s.getEndEffectors()[0].name_[0] == 'r') ? 0 : 1;
  EXPECT_TRUE(s.getEndEffectors()[index].name_ == "r_end_effector");
  EXPECT_TRUE(s.getEndEffectors()[index].component_group_ == "r_end_effector");
  EXPECT_TRUE(s.getEndEffectors()[index].parent_link_ == "r_wrist_roll_link");
 
  // Joint Properties
  const srdf::Model::PropertyMap& gripper_props = s.getJointProperties("r_gripper_tool_joint");
  EXPECT_EQ(gripper_props.size(), 0u);
 
  // When parsing, this made up joint that is not present in the URDF is expected to print an error
  // AND the property should not be made available in the srdf::Model
  const srdf::Model::PropertyMap& made_up_props = s.getJointProperties("made_up_joint");
  EXPECT_EQ(made_up_props.size(), 0u);
 
  const srdf::Model::PropertyMap& world_props = s.getJointProperties("world_joint");
  ASSERT_EQ(world_props.size(), 1u);
  EXPECT_EQ(world_props.at("angular_distance_weight"), "0.5");
}
 
TEST(TestCpp, testReadWrite)
{
  srdf::Model s;
  urdf::ModelInterfaceSharedPtr u = loadURDF(std::string(TEST_RESOURCE_LOCATION) + "/pr2_desc.urdf");
  ASSERT_TRUE(u != nullptr);
 
  ASSERT_TRUE(s.initFile(*u, std::string(TEST_RESOURCE_LOCATION) + "/pr2_desc.3.srdf"));
  srdf::SRDFWriter writer;
  writer.initModel(*u, s);
 
  std::string filename = std::string(TEST_RESOURCE_LOCATION) + "/pr2_desc.3-normalized.srdf";
  std::string xml_content;
  std::fstream xml_file(filename.c_str(), std::fstream::in);
  ASSERT_TRUE(xml_file.is_open());
  while (xml_file.good())
  {
    std::string line;
    std::getline(xml_file, line);
    xml_content += (line + "\n");
  }
  xml_content.erase(xml_content.size() - 1, 1);  // remove extra newline
  xml_file.close();
 
  EXPECT_EQ(xml_content, writer.getSRDFString());
}
 
int main(int argc, char** argv)
{
  // use the environment locale so that the unit test can be repeated with various locales easily
  setlocale(LC_ALL, "");
  std::cout << "Using locale: " << setlocale(LC_ALL, nullptr) << std::endl;
 
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}