#include <boost/algorithm/string.hpp>#include <urdf/model.h>#include <robot_calibration/calibration_offset_parser.h>#include <robot_calibration/models/chain.h>#include <gtest/gtest.h>
Include dependency graph for calibration_offset_parser_tests.cpp:
Go to the source code of this file.
Functions | |
| int | main (int argc, char **argv) |
| TEST (CalibrationOffsetParserTests, test_urdf_update) | |
| TEST (CalibrationOffsetParserTests, test_multi_step) | |
Variables | |
| std::string | robot_description |
| std::string | robot_description_updated |
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 135 of file calibration_offset_parser_tests.cpp.
| TEST | ( | CalibrationOffsetParserTests | , |
| test_urdf_update | |||
| ) |
Definition at line 60 of file calibration_offset_parser_tests.cpp.
| TEST | ( | CalibrationOffsetParserTests | , |
| test_multi_step | |||
| ) |
Definition at line 90 of file calibration_offset_parser_tests.cpp.
Variable Documentation
| std::string robot_description |
Initial value:
=
"<?xml version='1.0' ?>"
"<robot name='test'>"
" <link name='link_0'/>"
" <joint name='first_joint' type='fixed'>"
" <origin rpy='0 0 0' xyz='1 1 1'/>"
" <parent link='link_0'/>"
" <child link='link_1'/>"
" </joint>"
" <link name='link_1'/>"
" <joint name='second_joint' type='revolute'>"
" <origin rpy='0 0 0' xyz='0 0 0'/>"
" <axis xyz='0 0 1'/>"
" <limit effort='30' lower='-1.57' upper='1.57' velocity='0.524'/>"
" <parent link='link_1'/>"
" <child link='link_2'/>"
" </joint>"
" <link name='link_2'/>"
" <joint name='third_joint' type='fixed'>"
" <origin rpy='0 -1.5 0' xyz='0 0 0.0526'/>"
" <parent link='link_2'/>"
" <child link='link_3'/>"
" </joint>"
" <link name='link_3'/>"
"</robot>"
Definition at line 7 of file calibration_offset_parser_tests.cpp.
| std::string robot_description_updated |
Initial value:
=
"<?xml version=\"1.0\" ?>\n"
"<robot name=\"test\">\n"
" <link name=\"link_0\" />\n"
" <joint name=\"first_joint\" type=\"fixed\">\n"
" <origin rpy=\"0 0 0\" xyz=\"1 1 1\" />\n"
" <parent link=\"link_0\" />\n"
" <child link=\"link_1\" />\n"
" </joint>\n"
" <link name=\"link_1\" />\n"
" <joint name=\"second_joint\" type=\"revolute\">\n"
" <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n"
" <axis xyz=\"0 0 1\" />\n"
" <limit effort=\"30\" lower=\"-1.57\" upper=\"1.57\" velocity=\"0.524\" />\n"
" <parent link=\"link_1\" />\n"
" <child link=\"link_2\" />\n"
" <calibration rising=\"0.245\" />\n"
" </joint>\n"
" <link name=\"link_2\" />\n"
" <joint name=\"third_joint\" type=\"fixed\">\n"
" <origin rpy=\"1.57000000 -1.50000000 0.00000000\" xyz=\"0.00000000 0.00000000 0.05260000\" />\n"
" <parent link=\"link_2\" />\n"
" <child link=\"link_3\" />\n"
" </joint>\n"
" <link name=\"link_3\" />\n"
"</robot>"
Definition at line 33 of file calibration_offset_parser_tests.cpp.