test.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/robot_model/robot_model.h>
00038 #include <urdf_parser/urdf_parser.h>
00039 #include <fstream>
00040 #include <gtest/gtest.h>
00041 #include <boost/filesystem/path.hpp>
00042 #include <moveit/profiler/profiler.h>
00043 #include <moveit_resources/config.h>
00044 
00045 class LoadPlanningModelsPr2 : public testing::Test
00046 {
00047 protected:
00048   virtual void SetUp()
00049   {
00050     boost::filesystem::path res_path(MOVEIT_TEST_RESOURCES_DIR);
00051 
00052     srdf_model.reset(new srdf::Model());
00053     std::string xml_string;
00054     std::fstream xml_file((res_path / "pr2_description/urdf/robot.xml").string().c_str(), std::fstream::in);
00055     if (xml_file.is_open())
00056     {
00057       while (xml_file.good())
00058       {
00059         std::string line;
00060         std::getline(xml_file, line);
00061         xml_string += (line + "\n");
00062       }
00063       xml_file.close();
00064       urdf_model = urdf::parseURDF(xml_string);
00065     }
00066     srdf_model->initFile(*urdf_model, (res_path / "pr2_description/srdf/robot.xml").string());
00067     robot_model.reset(new moveit::core::RobotModel(urdf_model, srdf_model));
00068   };
00069 
00070   virtual void TearDown()
00071   {
00072   }
00073 
00074 protected:
00075   boost::shared_ptr<urdf::ModelInterface> urdf_model;
00076   boost::shared_ptr<srdf::Model> srdf_model;
00077   moveit::core::RobotModelConstPtr robot_model;
00078 };
00079 
00080 TEST_F(LoadPlanningModelsPr2, InitOK)
00081 {
00082   ASSERT_EQ(urdf_model->getName(), "pr2");
00083   ASSERT_EQ(srdf_model->getName(), "pr2");
00084 }
00085 
00086 TEST_F(LoadPlanningModelsPr2, Model)
00087 {
00088   // robot_model->printModelInfo(std::cout);
00089 
00090   const std::vector<const moveit::core::JointModel*>& joints = robot_model->getJointModels();
00091   for (std::size_t i = 0; i < joints.size(); ++i)
00092   {
00093     ASSERT_EQ(joints[i]->getJointIndex(), i);
00094     ASSERT_EQ(robot_model->getJointModel(joints[i]->getName()), joints[i]);
00095   }
00096   const std::vector<const moveit::core::LinkModel*>& links = robot_model->getLinkModels();
00097   for (std::size_t i = 0; i < links.size(); ++i)
00098   {
00099     ASSERT_EQ(links[i]->getLinkIndex(), i);
00100     //    std::cout << joints[i]->getName() << std::endl;
00101   }
00102   moveit::tools::Profiler::Status();
00103 }
00104 
00105 int main(int argc, char** argv)
00106 {
00107   testing::InitGoogleTest(&argc, argv);
00108   return RUN_ALL_TESTS();
00109 }


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Fri Dec 14 2018 03:31:40