test_subclass.cpp

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/*
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#include <gtest/gtest.h>
 
#include <urdf/model.h>
 
#include <kdl_parser/kdl_parser.hpp>
 
#include "robot_state_publisher/joint_state_listener.h"
#include "robot_state_publisher/robot_state_publisher.h"
 
namespace robot_state_publisher_test
{
class AccessibleJointStateListener : public robot_state_publisher::JointStateListener
{
public:
  AccessibleJointStateListener(
    const KDL::Tree& tree, const robot_state_publisher::MimicMap& m, const urdf::Model& model) :
      robot_state_publisher::JointStateListener(tree, m, model)
  {
  }
 
  bool usingTfStatic() const {
    return use_tf_static_;
  }
};
 
class AccessibleRobotStatePublisher : public robot_state_publisher::RobotStatePublisher
{
public:
 
  AccessibleRobotStatePublisher(const KDL::Tree& tree, const urdf::Model& model) :
    robot_state_publisher::RobotStatePublisher(tree, model)
  {
  }
 
  const urdf::Model & getModel() const {
    return model_;
  }
};
}  // robot_state_publisher_test 
 
TEST(TestRobotStatePubSubclass, robot_state_pub_subclass)
{
  urdf::Model model;
  model.initParam("robot_description");
  KDL::Tree tree;
  if (!kdl_parser::treeFromUrdfModel(model, tree)){
    ROS_ERROR("Failed to extract kdl tree from xml robot description");
    FAIL();
  }
 
  robot_state_publisher::MimicMap mimic;
 
  for(std::map< std::string, urdf::JointSharedPtr >::iterator i = model.joints_.begin(); i != model.joints_.end(); i++){
    if(i->second->mimic){
      mimic.insert(make_pair(i->first, i->second->mimic));
    }
  }
 
  robot_state_publisher_test::AccessibleRobotStatePublisher state_pub(tree, model);
 
  EXPECT_EQ(model.name_, state_pub.getModel().name_);
  EXPECT_EQ(model.root_link_, state_pub.getModel().root_link_);
 
  robot_state_publisher_test::AccessibleJointStateListener state_listener(tree, mimic, model);
  EXPECT_TRUE(state_listener.usingTfStatic());
}
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "test_subclass");
  testing::InitGoogleTest(&argc, argv);
 
  int res = RUN_ALL_TESTS();
 
  return res;
}