kdl_parser: kdl_parser: test_kdl_parser.cpp Source File

00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2008, Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #include <string>
00038 #include <gtest/gtest.h>
00039 #include <ros/ros.h>
00040 #include "kdl_parser/kdl_parser.hpp"
00041 
00042 using namespace kdl_parser;
00043 
00044 int g_argc;
00045 char** g_argv;
00046 
00047 class TestParser : public testing::Test
00048 {
00049 public:
00050   KDL::Tree my_tree;
00051 
00052 protected:
00054   TestParser()
00055   {
00056   }
00057 
00058 
00060   ~TestParser()
00061   {
00062   }
00063 };
00064 
00065 
00066 
00067 
00068 TEST_F(TestParser, test)
00069 {
00070   for (int i=1; i<g_argc-2; i++){
00071     ROS_ERROR("Testing file %s", g_argv[i]);
00072     ASSERT_FALSE(treeFromFile(g_argv[i], my_tree));
00073   }
00074 
00075   ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree));
00076   ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)44);
00077   ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)81);
00078   ASSERT_TRUE(my_tree.getSegment("base_footprint") == my_tree.getRootSegment());
00079   ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1);
00080   ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment());
00081   ASSERT_EQ(my_tree.getSegment("base_link")->second.segment.getInertia().getMass(), 116.0);
00082   ASSERT_NEAR(my_tree.getSegment("base_link")->second.segment.getInertia().getRotationalInertia().data[0], 15.6107, 0.001);
00083   SUCCEED();
00084 }
00085 
00086 
00087 
00088 
00089 int main(int argc, char** argv)
00090 {
00091   testing::InitGoogleTest(&argc, argv);
00092   ros::init(argc, argv, "test_kdl_parser");
00093   g_argc = argc;
00094   g_argv = argv;
00095   return RUN_ALL_TESTS();
00096 }