tesseract_urdf_visual_unit.cpp

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#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <gtest/gtest.h>
#include <Eigen/Geometry>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_geometry/impl/box.h>
#include <tesseract_geometry/impl/compound_mesh.h>
#include <tesseract_urdf/box.h>
#include <tesseract_urdf/visual.h>
#include <tesseract_common/resource_locator.h>
#include "tesseract_urdf_common_unit.h"
 
TEST(TesseractURDFUnit, parse_visual)  // NOLINT
{
  tesseract_common::GeneralResourceLocator resource_locator;
  {
    std::unordered_map<std::string, tesseract_scene_graph::Material::Ptr> empty_available_materials;
    std::string str = R"(<visual extra="0 0 0">
                           <origin xyz="1 2 3" rpy="0 0 0" />
                           <geometry>
                             <box size="1 2 3" />
                           </geometry>
                           <material name="Cyan">
                             <color rgba="0 1.0 1.0 1.0"/>
                           </material>
                         </visual>)";
    tesseract_scene_graph::Visual::Ptr elem;
    EXPECT_TRUE(runTest<tesseract_scene_graph::Visual::Ptr>(elem,
                                                            &tesseract_urdf::parseVisual,
                                                            str,
                                                            tesseract_urdf::VISUAL_ELEMENT_NAME.data(),
                                                            resource_locator,
                                                            empty_available_materials));
    EXPECT_TRUE(elem->geometry != nullptr);
    EXPECT_TRUE(elem->material != nullptr);
    EXPECT_FALSE(elem->origin.isApprox(Eigen::Isometry3d::Identity(), 1e-8));
  }
 
  {
    std::unordered_map<std::string, tesseract_scene_graph::Material::Ptr> empty_available_materials;
    std::string str = R"(<visual>
                           <geometry>
                             <box size="1 2 3" />
                           </geometry>
                           <material name="Cyan">
                             <color rgba="0 1.0 1.0 1.0"/>
                           </material>
                         </visual>)";
    tesseract_scene_graph::Visual::Ptr elem;
    EXPECT_TRUE(runTest<tesseract_scene_graph::Visual::Ptr>(elem,
                                                            &tesseract_urdf::parseVisual,
                                                            str,
                                                            tesseract_urdf::VISUAL_ELEMENT_NAME.data(),
                                                            resource_locator,
                                                            empty_available_materials));
    EXPECT_TRUE(elem->geometry != nullptr);
    EXPECT_TRUE(elem->material != nullptr);
    EXPECT_TRUE(elem->origin.isApprox(Eigen::Isometry3d::Identity(), 1e-8));
  }
 
  {
    std::unordered_map<std::string, tesseract_scene_graph::Material::Ptr> empty_available_materials;
    std::string str = R"(<visual>
                           <geometry>
                             <box size="1 2 3" />
                           </geometry>
                         </visual>)";
    tesseract_scene_graph::Visual::Ptr elem;
    EXPECT_TRUE(runTest<tesseract_scene_graph::Visual::Ptr>(elem,
                                                            &tesseract_urdf::parseVisual,
                                                            str,
                                                            tesseract_urdf::VISUAL_ELEMENT_NAME.data(),
                                                            resource_locator,
                                                            empty_available_materials));
    EXPECT_TRUE(elem->geometry != nullptr);
    EXPECT_TRUE(elem->material != nullptr);
    EXPECT_TRUE(elem->origin.isApprox(Eigen::Isometry3d::Identity(), 1e-8));
  }
 
  {
    std::unordered_map<std::string, tesseract_scene_graph::Material::Ptr> empty_available_materials;
    std::string str = R"(<visual>
                           <material name="Cyan">
                             <color rgba="0 1.0 1.0 1.0"/>
                           </material>
                         </visual>)";
    tesseract_scene_graph::Visual::Ptr elem;
    EXPECT_FALSE(runTest<tesseract_scene_graph::Visual::Ptr>(elem,
                                                             &tesseract_urdf::parseVisual,
                                                             str,
                                                             tesseract_urdf::VISUAL_ELEMENT_NAME.data(),
                                                             resource_locator,
                                                             empty_available_materials));
  }
 
  {
    std::unordered_map<std::string, tesseract_scene_graph::Material::Ptr> empty_available_materials;
    std::string str = R"(<visual>
                           <geometry>
                             <box />
                           </geometry>
                         </visual>)";
    tesseract_scene_graph::Visual::Ptr elem;
    EXPECT_FALSE(runTest<tesseract_scene_graph::Visual::Ptr>(elem,
                                                             &tesseract_urdf::parseVisual,
                                                             str,
                                                             tesseract_urdf::VISUAL_ELEMENT_NAME.data(),
                                                             resource_locator,
                                                             empty_available_materials));
  }
}
 
TEST(TesseractURDFUnit, write_visual)  // NOLINT
{
  {  // trigger check for an assigned name and check for specified ID
    tesseract_scene_graph::Visual::Ptr visual = std::make_shared<tesseract_scene_graph::Visual>();
    visual->name = "test";
    visual->origin = Eigen::Isometry3d::Identity();
    visual->geometry = std::make_shared<tesseract_geometry::Box>(1.0, 1.0, 1.0);
    visual->material = std::make_shared<tesseract_scene_graph::Material>("black");
    std::string text;
    EXPECT_EQ(0,
              writeTest<tesseract_scene_graph::Visual::Ptr>(
                  visual, &tesseract_urdf::writeVisual, text, tesseract_common::getTempPath(), std::string("test"), 0));
    EXPECT_NE(text, "");
  }
 
  {  // trigger check for nullptr input
    tesseract_scene_graph::Visual::Ptr visual = nullptr;
    std::string text;
    EXPECT_EQ(
        1,
        writeTest<tesseract_scene_graph::Visual::Ptr>(
            visual, &tesseract_urdf::writeVisual, text, tesseract_common::getTempPath(), std::string("test"), -1));
    EXPECT_EQ(text, "");
  }
 
  {  // trigger check for bad geometry
    tesseract_scene_graph::Visual::Ptr visual = std::make_shared<tesseract_scene_graph::Visual>();
    visual->name = "test";
    visual->origin = Eigen::Isometry3d::Identity();
    visual->geometry = nullptr;
    std::string text;
    EXPECT_EQ(
        1,
        writeTest<tesseract_scene_graph::Visual::Ptr>(
            visual, &tesseract_urdf::writeVisual, text, tesseract_common::getTempPath(), std::string("test"), -1));
    EXPECT_EQ(text, "");
  }
}