30 #include <gtest/gtest.h> 32 #include <boost/scoped_ptr.hpp> 35 #include <kdl/chainfksolverpos_recursive.hpp> 57 TiXmlDocument urdf_xml;
58 urdf_xml.LoadFile(
"pr2.urdf");
59 TiXmlElement *root = urdf_xml.FirstChildElement(
"robot");
60 ASSERT_TRUE(root != NULL);
63 ASSERT_TRUE(model.
initXml(root));
83 int main(
int argc,
char **argv){
84 testing::InitGoogleTest(&argc, argv);
85 return RUN_ALL_TESTS();
virtual ~ShortChainTest()
int main(int argc, char **argv)
TEST_F(ShortChainTest, FKShouldMatchOnShortChainWhenStraight)
pr2_hardware_interface::HardwareInterface hw
bool initXml(TiXmlElement *root)
Initialize the robot model form xml.
This class provides the controllers with an interface to the robot state.
This class provides the controllers with an interface to the robot model.