test_kdl_parser.cpp
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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #include <string>
00038 #include <gtest/gtest.h>
00039 #include <ros/ros.h>
00040 #include "kdl_parser/kdl_parser.hpp"
00041 
00042 using namespace kdl_parser;
00043 
00044 int g_argc;
00045 char** g_argv;
00046 
00047 class TestParser : public testing::Test
00048 {
00049 public:
00050   KDL::Tree my_tree;
00051 
00052 protected:
00054   TestParser()
00055   {
00056   }
00057 
00058 
00060   ~TestParser()
00061   {
00062   }
00063 };
00064 
00065 
00066 
00067 
00068 TEST_F(TestParser, test)
00069 {
00070   for (int i=1; i<g_argc-2; i++){
00071     ROS_ERROR("Testing file %s", g_argv[i]);
00072     ASSERT_FALSE(treeFromFile(g_argv[i], my_tree));
00073   }
00074 
00075   ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree));
00076   ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)44);
00077   ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)81);
00078   ASSERT_TRUE(my_tree.getSegment("base_footprint") == my_tree.getRootSegment());
00079   ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1);
00080   ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment());
00081   ASSERT_EQ(my_tree.getSegment("base_link")->second.segment.getInertia().getMass(), 116.0);
00082   ASSERT_NEAR(my_tree.getSegment("base_link")->second.segment.getInertia().getRotationalInertia().data[0], 15.6107, 0.001);
00083   SUCCEED();
00084 }
00085 
00086 
00087 
00088 
00089 int main(int argc, char** argv)
00090 {
00091   testing::InitGoogleTest(&argc, argv);
00092   ros::init(argc, argv, "test_kdl_parser");
00093   g_argc = argc;
00094   g_argv = argv;
00095   return RUN_ALL_TESTS();
00096 }
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kdl_parser
Author(s): Wim Meeussen wim@willowgarage.com
autogenerated on Mon Aug 19 2013 11:02:14