test_kdl_parser.py
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00001 #!/usr/bin/env python
00002 
00003 import sys
00004 
00005 import kdl_parser_py.urdf
00006 import unittest
00007 
00008 import rostest
00009 
00010 PKG = "kdl_parser_py"
00011 NAME = "test_kdl_parser"
00012 
00013 class TestKdlParser(unittest.TestCase):
00014     def runTest(self):
00015         filename = None
00016         if (sys.argv > 1):
00017             filename = sys.argv[1]
00018         else:
00019             self.fail("Expected filename!")
00020         (ok, tree) = kdl_parser_py.urdf.treeFromFile(filename)
00021         self.assertTrue(ok)
00022         # KDL doesn't count fixed joints (since they aren't kinematic)
00023         self.assertEqual(tree.getNrOfJoints(), 8)
00024         # KDL doesn't count base link (since it's attached by fixed links
00025         self.assertEqual(tree.getNrOfSegments(), 10)
00026         chain = tree.getChain("base_link", "right_gripper")
00027         self.assertEqual(chain.getNrOfSegments(), 2)
00028         self.assertEqual(chain.getNrOfJoints(), 2)
00029         self.assertEqual(chain.getSegment(0).getName(), "gripper_pole")
00030         self.assertEqual(chain.getSegment(0).getJoint().getName(), "gripper_extension")
00031         self.assertEqual(chain.getSegment(1).getName(), "right_gripper")
00032         self.assertEqual(chain.getSegment(1).getJoint().getName(), "right_gripper_joint")
00033 
00034 
00035 if __name__ == '__main__':
00036     rostest.run(PKG, NAME, TestKdlParser, sys.argv)


kdl_parser_py
Author(s): Jonathan Bohren , Jackie Kay
autogenerated on Thu Jun 6 2019 21:11:50