#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <Eigen/Geometry>
#include <tesseract_geometry/impl/box.h>
#include <tesseract_urdf/box.h>
#include <tesseract_urdf/link.h>
#include <tesseract_support/tesseract_support_resource_locator.h>
#include "tesseract_urdf_common_unit.h"

Include dependency graph for tesseract_urdf_link_unit.cpp:

Functions
	EXPECT_TRUE (runTest< tesseract_scene_graph::Link::Ptr >(elem, &tesseract_urdf::parseLink, str, "link", resource_locator, empty_available_materials, 2))

	EXPECT_TRUE (elem->getName()=="my_link")

	EXPECT_TRUE (elem->inertial !=nullptr)

	EXPECT_TRUE (elem->visual.size()==1)

	EXPECT_TRUE (elem->collision.size()==1)

	EXPECT_TRUE (empty_available_materials.size()==1)

	EXPECT_TRUE (elem->inertial==nullptr)

	EXPECT_FALSE (runTest< tesseract_scene_graph::Link::Ptr >(elem, &tesseract_urdf::parseLink, str, "link", resource_locator, empty_available_materials, 2))

Variables
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH	TESSERACT_COMMON_IGNORE_WARNINGS_POP

std::string	str

tesseract_scene_graph::Link::Ptr	elem

Function Documentation

◆ EXPECT_FALSE()

EXPECT_FALSE ( runTest< tesseract_scene_graph::Link::Ptr > elem, &tesseract_urdf::parseLink, str, "link", resource_locator, empty_available_materials, 2 )

◆ EXPECT_TRUE() [1/7]

EXPECT_TRUE ( elem->collision. size() = =1 )

◆ EXPECT_TRUE() [2/7]

EXPECT_TRUE ( elem-> getName() = ="my_link" )

◆ EXPECT_TRUE() [3/7]

EXPECT_TRUE ( elem->inertial ! = nullptr )

◆ EXPECT_TRUE() [4/7]

EXPECT_TRUE ( elem-> inertial = =nullptr )

◆ EXPECT_TRUE() [5/7]

EXPECT_TRUE ( elem->visual. size() = =1 )

◆ EXPECT_TRUE() [6/7]

EXPECT_TRUE ( empty_available_materials. size() = =1 )

◆ EXPECT_TRUE() [7/7]

EXPECT_TRUE ( runTest< tesseract_scene_graph::Link::Ptr > elem, &tesseract_urdf::parseLink, str, "link", resource_locator, empty_available_materials, 2 )

Variable Documentation

◆ elem

tesseract_scene_graph::Link::Ptr elem

◆ str

std::string str

Initial value:

= R"(<link name="my_link" extra="0 0 0">
                           <inertial>
                             <origin xyz="0 0 0.5" rpy="0 0 0"/>
                             <mass value="1" />
                             <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"  />
                           </inertial>
                           <visual>
                             <origin xyz="0 0 0" rpy="0 0 0"  />
                             <geometry>
                               <box size="1 1 1"  />
                             </geometry>
                             <material name="Cyan">
                               <color rgba="0 1.0 1.0 1.0" />
                             </material>
                           </visual>
                           <collision>
                             <origin xyz="0 0 0" rpy="0 0 0" />
                             <geometry>
                               <cylinder radius="1" length="0.5" />
                             </geometry>
                           </collision>
                         </link>)"

◆ TESSERACT_COMMON_IGNORE_WARNINGS_POP

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP