test_kdl_parser.cpp

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/* Author: Wim Meeussen */
 
#include <gtest/gtest.h>
#include <ros/ros.h>
#include "kdl_parser/kdl_parser.hpp"
 
int g_argc;
char ** g_argv;
 
class TestParser : public testing::Test
{
public:
  KDL::Tree my_tree;
 
protected:
  TestParser()
  {
  }
 
  ~TestParser()
  {
  }
};
 
 
TEST_F(TestParser, test) {
  for (int i = 1; i < g_argc - 2; i++) {
    ROS_ERROR("Testing file %s", g_argv[i]);
    ASSERT_FALSE(kdl_parser::treeFromFile(g_argv[i], my_tree));
  }
 
  ASSERT_TRUE(kdl_parser::treeFromFile(g_argv[g_argc - 1], my_tree));
  ASSERT_EQ(8, my_tree.getNrOfJoints());
  ASSERT_EQ(16, my_tree.getNrOfSegments());
  ASSERT_TRUE(my_tree.getSegment("dummy_link") == my_tree.getRootSegment());
  ASSERT_EQ((unsigned int)1, my_tree.getRootSegment()->second.children.size());
  ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment());
  ASSERT_EQ(10.0, my_tree.getSegment("base_link")->second.segment.getInertia().getMass());
  ASSERT_NEAR(1.000, my_tree.getSegment(
      "base_link")->second.segment.getInertia().getRotationalInertia().data[0], 0.001);
  SUCCEED();
}
 
int main(int argc, char ** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_kdl_parser");
  g_argc = argc;
  g_argv = argv;
  return RUN_ALL_TESTS();
}