test.cpp

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/* Author: Ioan Sucan */

#include <moveit/robot_model/robot_model.h>
#include <urdf_parser/urdf_parser.h>
#include <fstream>
#include <gtest/gtest.h>
#include <boost/filesystem/path.hpp>
#include <moveit/profiler/profiler.h>
#include <ros/package.h>

class LoadPlanningModelsPr2 : public testing::Test
{
protected:
  
  virtual void SetUp()
  {
    srdf_model.reset(new srdf::Model());
    std::string xml_string;
    std::string resource_dir = ros::package::getPath("moveit_resources");
    if(resource_dir == "")
    {
      FAIL() << "Failed to find package moveit_resources.";
      return;
    }
    std::fstream xml_file((boost::filesystem::path(resource_dir) / "test/urdf/robot.xml").string().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();
      urdf_model = urdf::parseURDF(xml_string);
    }
    srdf_model->initFile(*urdf_model, (boost::filesystem::path(resource_dir) / "test/srdf/robot.xml").string());
    robot_model.reset(new moveit::core::RobotModel(urdf_model, srdf_model));
  };
  
  virtual void TearDown()
  {
  }
  
protected:
  
  boost::shared_ptr<urdf::ModelInterface> urdf_model;
  boost::shared_ptr<srdf::Model> srdf_model;
  moveit::core::RobotModelConstPtr robot_model;
};

TEST_F(LoadPlanningModelsPr2, InitOK)
{
  ASSERT_EQ(urdf_model->getName(), "pr2");
  ASSERT_EQ(srdf_model->getName(), "pr2");
}

TEST_F(LoadPlanningModelsPr2, Model)
{
  robot_model->printModelInfo(std::cout);
  
  const std::vector<const moveit::core::JointModel*> &joints = robot_model->getJointModels();
  for (std::size_t i = 0 ; i < joints.size() ; ++i)
  {
    ASSERT_EQ(joints[i]->getJointIndex(), i);
    ASSERT_EQ(robot_model->getJointModel(joints[i]->getName()), joints[i]);
  }
  const std::vector<const moveit::core::LinkModel*> &links = robot_model->getLinkModels();
  for (std::size_t i = 0 ; i < links.size() ; ++i)
  {
    ASSERT_EQ(links[i]->getLinkIndex(), i);
    //    std::cout << joints[i]->getName() << std::endl;
    
  }
  moveit::tools::Profiler::Status();
  
}


int main(int argc, char **argv)
{
    testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
}