00001 #include <gtest/gtest.h> 00002 #include <boost/make_shared.hpp> 00003 #include "robot_instance/RegisterWizardMapLoader.h" 00004 #include <ros/package.h> 00005 00006 class RegisterWizardMapLoaderTest : public ::testing::Test 00007 { 00008 protected: 00009 virtual void SetUp() 00010 { 00011 packagePath = ros::package::getPath("robot_instance"); 00012 fileName = packagePath; 00013 fileName.append("/test/RegisterWizardMapLoader/ExampleRegisters.xml"); 00014 00015 map = boost::make_shared<RegisterWizardMap>(); 00016 } 00017 00018 virtual void TearDown() 00019 { 00020 } 00021 00022 std::string packagePath, fileName; 00023 RegisterWizardMapPtr map; 00024 }; 00025 00026 TEST_F(RegisterWizardMapLoaderTest, ParseXml) 00027 { 00028 EXPECT_NO_THROW(RegisterWizardMapLoader::loadRegistersFromFile(fileName, "/left_leg/joint0", map)); 00029 00030 EXPECT_EQ(4, map->size()); 00031 } 00032 00033 int main(int argc, char** argv) 00034 { 00035 testing::InitGoogleTest(&argc, argv); 00036 return RUN_ALL_TESTS(); 00037 }