test_kdl_parser.cpp
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34 
35 /* Author: Wim Meeussen */
36 
37 #include <gtest/gtest.h>
38 #include <ros/ros.h>
40 
41 int g_argc;
42 char ** g_argv;
43 
44 class TestParser : public testing::Test
45 {
46 public:
47  KDL::Tree my_tree;
48 
49 protected:
51  TestParser()
52  {
53  }
54 
56  ~TestParser()
57  {
58  }
59 };
60 
61 
63  for (int i = 1; i < g_argc - 2; i++) {
64  ROS_ERROR("Testing file %s", g_argv[i]);
65  ASSERT_FALSE(kdl_parser::treeFromFile(g_argv[i], my_tree));
66  }
67 
68  ASSERT_TRUE(kdl_parser::treeFromFile(g_argv[g_argc - 1], my_tree));
69  ASSERT_EQ(8, my_tree.getNrOfJoints());
70  ASSERT_EQ(16, my_tree.getNrOfSegments());
71  ASSERT_TRUE(my_tree.getSegment("dummy_link") == my_tree.getRootSegment());
72  ASSERT_EQ((unsigned int)1, my_tree.getRootSegment()->second.children.size());
73  ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment());
74  ASSERT_EQ(10.0, my_tree.getSegment("base_link")->second.segment.getInertia().getMass());
75  ASSERT_NEAR(1.000, my_tree.getSegment(
76  "base_link")->second.segment.getInertia().getRotationalInertia().data[0], 0.001);
77  SUCCEED();
78 }
79 
80 int main(int argc, char ** argv)
81 {
82  testing::InitGoogleTest(&argc, argv);
83  ros::init(argc, argv, "test_kdl_parser");
84  g_argc = argc;
85  g_argv = argv;
86  return RUN_ALL_TESTS();
87 }
SegmentMap::const_iterator getRootSegment() const
unsigned int getNrOfJoints() const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
unsigned int getNrOfSegments() const
#define ROS_ERROR(...)
Definition: kdl_parser.cpp:52
TEST_F(TestParser, test)
int main(int argc, char **argv)
int g_argc
KDL_PARSER_PUBLIC bool treeFromFile(const std::string &file, KDL::Tree &tree)
Definition: kdl_parser.cpp:172
char ** g_argv
SegmentMap::const_iterator getSegment(const std::string &segment_name) const


kdl_parser
Author(s): Wim Meeussen , Ioan Sucan , Jackie Kay
autogenerated on Fri Apr 3 2020 04:02:36