test_collada_urdf.cpp
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00001 // Copyright (c) 2010, Willow Garage, Inc.
00002 // All rights reserved.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of Willow Garage, Inc. nor the names of its
00013 //       contributors may be used to endorse or promote products derived from
00014 //       this software without specific prior written permission.
00015 //
00016 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00017 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00018 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00019 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00020 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00021 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00022 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00023 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00024 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00025 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00026 // POSSIBILITY OF SUCH DAMAGE.
00027 
00028 /* Author: Tim Field */
00029 
00030 #include "collada_urdf/collada_urdf.h"
00031 
00032 #include <gtest/gtest.h>
00033 
00034 #include <fstream>
00035 #include <sstream>
00036 #include <string>
00037 
00038 std::string readTestUrdfString() {
00039     std::ifstream file("test/pr2.urdf");
00040     std::stringstream ss;
00041     ss << file.rdbuf();
00042     return ss.str();
00043 }
00044 
00045 TEST(collada_urdf, collada_from_urdf_file_works)
00046 {
00047     boost::shared_ptr<DAE> dom;
00048     ASSERT_TRUE(collada_urdf::colladaFromUrdfFile("test/pr2.urdf", dom));
00049     ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae"));
00050 }
00051 
00052 TEST(collada_urdf, collada_from_urdf_string_works)
00053 {
00054     std::string urdf_str = readTestUrdfString();
00055 
00056     boost::shared_ptr<DAE> dom;
00057     ASSERT_TRUE(collada_urdf::colladaFromUrdfString(urdf_str, dom));
00058     ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae"));
00059 }
00060 
00061 TEST(collada_urdf, collada_from_urdf_xml_works)
00062 {
00063     TiXmlDocument urdf_xml;
00064     ASSERT_TRUE(urdf_xml.Parse(readTestUrdfString().c_str()) > 0);
00065 
00066     boost::shared_ptr<DAE> dom;
00067     ASSERT_TRUE(collada_urdf::colladaFromUrdfXml(&urdf_xml, dom));
00068     ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae"));
00069 }
00070 
00071 TEST(collada_urdf, collada_from_urdf_model_works)
00072 {
00073     urdf::Model robot_model;
00074     TiXmlDocument urdf_xml;
00075     ASSERT_TRUE(urdf_xml.Parse(readTestUrdfString().c_str()) > 0);
00076     ASSERT_TRUE(robot_model.initXml(&urdf_xml));
00077 
00078     boost::shared_ptr<DAE> dom;
00079     ASSERT_TRUE(collada_urdf::colladaFromUrdfModel(robot_model, dom));
00080     ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae"));
00081 }
00082 
00083 int main(int argc, char **argv) {
00084     testing::InitGoogleTest(&argc, argv);
00085     return RUN_ALL_TESTS();
00086 }
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collada_urdf
Author(s): Tim Field and Rosen Diankov
autogenerated on Mon Aug 19 2013 11:02:27