test_collada_urdf.cpp
Go to the documentation of this file.
1 // Copyright (c) 2010, Willow Garage, Inc.
2 // All rights reserved.
3 //
4 // Redistribution and use in source and binary forms, with or without
5 // modification, are permitted provided that the following conditions are met:
6 //
7 // * Redistributions of source code must retain the above copyright
8 // notice, this list of conditions and the following disclaimer.
9 // * Redistributions in binary form must reproduce the above copyright
10 // notice, this list of conditions and the following disclaimer in the
11 // documentation and/or other materials provided with the distribution.
12 // * Neither the name of Willow Garage, Inc. nor the names of its
13 // contributors may be used to endorse or promote products derived from
14 // this software without specific prior written permission.
15 //
16 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
17 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
18 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
19 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
20 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
21 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
22 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
23 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
24 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
25 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
26 // POSSIBILITY OF SUCH DAMAGE.
27 
28 /* Author: Tim Field */
29 
31 
32 #include <gtest/gtest.h>
33 
34 TEST(collada_urdf, collada_from_urdf_file_works)
35 {
36  urdf::Model robot_model;
37 
38  ASSERT_TRUE(robot_model.initFile("pr2.urdf"));
39  ASSERT_TRUE(collada_urdf::WriteUrdfModelToColladaFile(robot_model, "pr2.dae"));
40 }
41 
42 TEST(collada_urdf, collada_output_dir_does_not_exist)
43 {
44  urdf::Model robot_model;
45 
46  ASSERT_TRUE(robot_model.initFile("pr2.urdf"));
47  ASSERT_FALSE(collada_urdf::WriteUrdfModelToColladaFile(robot_model, "a/very/long/directory/path/that/should/not/exist/pr2.dae"));
48 }
49 
50 int main(int argc, char **argv)
51 {
52  testing::InitGoogleTest(&argc, argv);
53  return RUN_ALL_TESTS();
54 }
URDF_EXPORT bool initFile(const std::string &filename)
bool WriteUrdfModelToColladaFile(urdf::Model const &robot_model, std::string const &file)
TEST(collada_urdf, collada_from_urdf_file_works)
int main(int argc, char **argv)


collada_urdf
Author(s): Tim Field, Rosen Diankov, Ioan Sucan , Jackie Kay
autogenerated on Wed Jul 15 2020 03:52:10