00001 // Copyright (c) 2010, Willow Garage, Inc. 00002 // All rights reserved. 00003 // 00004 // Redistribution and use in source and binary forms, with or without 00005 // modification, are permitted provided that the following conditions are met: 00006 // 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of Willow Garage, Inc. nor the names of its 00013 // contributors may be used to endorse or promote products derived from 00014 // this software without specific prior written permission. 00015 // 00016 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00017 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00018 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00019 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00020 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00021 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00022 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00023 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00024 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00025 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00026 // POSSIBILITY OF SUCH DAMAGE. 00027 00028 /* Author: Tim Field */ 00029 00030 #include "collada_urdf/collada_urdf.h" 00031 00032 #include <gtest/gtest.h> 00033 00034 #include <fstream> 00035 #include <sstream> 00036 #include <string> 00037 /* 00038 std::string readTestUrdfString() { 00039 std::ifstream file("test/pr2.urdf"); 00040 std::stringstream ss; 00041 ss << file.rdbuf(); 00042 return ss.str(); 00043 } 00044 00045 TEST(collada_urdf, collada_from_urdf_file_works) 00046 { 00047 boost::shared_ptr<DAE> dom; 00048 ASSERT_TRUE(collada_urdf::colladaFromUrdfFile("test/pr2.urdf", dom)); 00049 ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae")); 00050 } 00051 00052 TEST(collada_urdf, collada_from_urdf_string_works) 00053 { 00054 std::string urdf_str = readTestUrdfString(); 00055 00056 boost::shared_ptr<DAE> dom; 00057 ASSERT_TRUE(collada_urdf::colladaFromUrdfString(urdf_str, dom)); 00058 ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae")); 00059 } 00060 00061 TEST(collada_urdf, collada_from_urdf_xml_works) 00062 { 00063 TiXmlDocument urdf_xml; 00064 ASSERT_TRUE(urdf_xml.Parse(readTestUrdfString().c_str()) > 0); 00065 00066 boost::shared_ptr<DAE> dom; 00067 ASSERT_TRUE(collada_urdf::colladaFromUrdfXml(&urdf_xml, dom)); 00068 ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae")); 00069 } 00070 00071 TEST(collada_urdf, collada_from_urdf_model_works) 00072 { 00073 urdf::Model robot_model; 00074 TiXmlDocument urdf_xml; 00075 ASSERT_TRUE(urdf_xml.Parse(readTestUrdfString().c_str()) > 0); 00076 ASSERT_TRUE(robot_model.initXml(&urdf_xml)); 00077 00078 boost::shared_ptr<DAE> dom; 00079 ASSERT_TRUE(collada_urdf::colladaFromUrdfModel(robot_model, dom)); 00080 ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae")); 00081 } 00082 */ 00083 int main(int argc, char **argv) { 00084 testing::InitGoogleTest(&argc, argv); 00085 return RUN_ALL_TESTS(); 00086 }