#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <Eigen/Geometry>
#include <tesseract_common/utils.h>
#include <tesseract_urdf/urdf_parser.h>
#include <tesseract_support/tesseract_support_resource_locator.h>
#include "tesseract_urdf_common_unit.h"

Include dependency graph for tesseract_urdf_urdf_unit.cpp:

Functions
	EXPECT_TRUE (sg !=nullptr)

	EXPECT_TRUE (sg->getName()=="test")

	EXPECT_TRUE (sg->getJoints().size()==1)

	EXPECT_ANY_THROW (tesseract_urdf::parseURDFString(str, resource_locator))

	EXPECT_EQ (sg->getLink("l1") ->visual[0]->material->getName(), "test_material")

	EXPECT_TRUE (g->getJoints().size()==9)

	EXPECT_TRUE (g->isTree())

g	saveDOT (tesseract_common::getTempPath()+"tesseract_urdf_import.dot")

	std::cout<< path<< std::endl;EXPECT_TRUE(path.links.size()==4);EXPECT_TRUE(std::find(path.links.begin(), path.links.end(), "link_1") !=path.links.end());EXPECT_TRUE(std::find(path.links.begin(), path.links.end(), "link_2") !=path.links.end());EXPECT_TRUE(std::find(path.links.begin(), path.links.end(), "link_3") !=path.links.end());EXPECT_TRUE(std::find(path.links.begin(), path.links.end(), "link_4") !=path.links.end());EXPECT_TRUE(path.joints.size()==3);EXPECT_TRUE(std::find(path.joints.begin(), path.joints.end(), "joint_a2") !=path.joints.end());EXPECT_TRUE(std::find(path.joints.begin(), path.joints.end(), "joint_a3") !=path.joints.end());EXPECT_TRUE(std::find(path.joints.begin(), path.joints.end(), "joint_a4") !=path.joints.end());} { { tesseract_scene_graph::SceneGraph::Ptr sg=nullptr;bool success=true;try { tesseract_urdf::writeURDFFile(sg, "/tmp/", "urdf0.urdf");} catch(...) { success=false;} EXPECT_FALSE(success);} { tesseract_scene_graph::SceneGraph::Ptr sg=std::make_shared< tesseract_scene_graph::SceneGraph > ()

	catch (...)

	EXPECT_TRUE (success)

Variables
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH	TESSERACT_COMMON_IGNORE_WARNINGS_POP

tesseract_scene_graph::SceneGraph::Ptr	sg = tesseract_urdf::parseURDFString(str, resource_locator)

std::string	urdf_file = std::string(TESSERACT_SUPPORT_DIR) + "/urdf/lbr_iiwa_14_r820.urdf"

tesseract_common::TesseractSupportResourceLocator	locator

auto	g = tesseract_urdf::parseURDFFile(urdf_file, locator)

auto	path = g->getShortestPath("link_1", "link_4")

tesseract_scene_graph::Link::Ptr	link_0 = std::make_shared<tesseract_scene_graph::Link>("link_0")

tesseract_scene_graph::Link::Ptr	link_1 = std::make_shared<tesseract_scene_graph::Link>("link_1")

tesseract_scene_graph::Joint::Ptr	joint_0 = std::make_shared<tesseract_scene_graph::Joint>("joint_0")

joint_0	type = tesseract_scene_graph::JointType::FIXED

joint_0	parent_link_name = link_0->getName()

joint_0	child_link_name = link_1->getName()

bool	success = true

	try

Function Documentation

◆ catch()

catch ( ... )

◆ EXPECT_ANY_THROW()

EXPECT_ANY_THROW ( tesseract_urdf::parseURDFString(str, resource_locator) )

Initial value:

{
    std::string str =
        R"(<robot name="test">
             <joint name="j1" type="fixed">
               <parent link="l1"/>
               <child link="l2"/>
               <origin xyz="0 0 0" rpy="0 0 0"/>
               <dynamics damping="87.098" friction="3.1290"/>
               <limit lower="12.34" upper="22.999" effort="99.0" velocity="23.0"/>
               <safety_controller soft_lower_limit="8.765" soft_upper_limit="9.003" k_position="7.0034" k_velocity="9.998"/>
               <calibration rising="8.654" falling="0.0445"/>
               <mimic joint="j2" multiplier="9.87" offset="0.098"/>
             </joint>
             <joint name="j2" type="fixed">
               <parent link="l1"/>
               <child link="l2"/>
             </joint>
             <link name="l1"/>
             <link name="l2"/>
           </robot>)"

◆ EXPECT_EQ()

EXPECT_EQ	(	sg->	getLink("l1") ->visual->material->getName()[0],
		"test_material"
	)

◆ EXPECT_TRUE() [1/6]

EXPECT_TRUE ( g-> getJoints).size( = =9 )

◆ EXPECT_TRUE() [2/6]

EXPECT_TRUE ( g-> isTree() )

◆ EXPECT_TRUE() [3/6]

EXPECT_TRUE ( sg ! = nullptr )

Initial value:

{
    tesseract_scene_graph::SceneGraph::Ptr sg = tesseract_urdf::parseURDFFile(std::string(TESSERACT_SUPPORT_DIR) + "/ur"
                                                                                                                   "df/"
                                                                                                                   "lbr"
                                                                                                                   "_ii"
                                                                                                                   "wa_"
                                                                                                                   "14_"
                                                                                                                   "r82"
                                                                                                                   "0."
                                                                                                                   "urd"
                                                                                                                   "f",
                                                                              resource_locator)

◆ EXPECT_TRUE() [4/6]

EXPECT_TRUE ( sg-> getJoints).size( = =1 )

◆ EXPECT_TRUE() [5/6]

EXPECT_TRUE ( sg-> getName() = ="test" )

◆ EXPECT_TRUE() [6/6]

EXPECT_TRUE ( success )

◆ saveDOT()

g saveDOT ( tesseract_common::getTempPath()+"tesseract_urdf_import.dot" )

◆ std::cout<< path<< std::endl;EXPECT_TRUE(path.links.size()==4);EXPECT_TRUE(std::find(path.links.begin(), path.links.end(), "link_1") !=path.links.end());EXPECT_TRUE(std::find(path.links.begin(), path.links.end(), "link_2") !=path.links.end());EXPECT_TRUE(std::find(path.links.begin(), path.links.end(), "link_3") !=path.links.end());EXPECT_TRUE(std::find(path.links.begin(), path.links.end(), "link_4") !=path.links.end());EXPECT_TRUE(path.joints.size()==3);EXPECT_TRUE(std::find(path.joints.begin(), path.joints.end(), "joint_a2") !=path.joints.end());EXPECT_TRUE(std::find(path.joints.begin(), path.joints.end(), "joint_a3") !=path.joints.end());EXPECT_TRUE(std::find(path.joints.begin(), path.joints.end(), "joint_a4") !=path.joints.end());} { { tesseract_scene_graph::SceneGraph::Ptr sg=nullptr;bool success=true;try { tesseract_urdf::writeURDFFile(sg, "/tmp/", "urdf0.urdf");} catch(...) { success=false;} EXPECT_FALSE(success);} { tesseract_scene_graph::SceneGraph::Ptr sg=std::make_shared< tesseract_scene_graph::SceneGraph >()

std::cout<< path<< std::endl;EXPECT_TRUE(path.links.size()==4);EXPECT_TRUE(std::find(path.links.begin(), path.links.end(), "link_1") !=path.links.end());EXPECT_TRUE(std::find(path.links.begin(), path.links.end(), "link_2") !=path.links.end());EXPECT_TRUE(std::find(path.links.begin(), path.links.end(), "link_3") !=path.links.end());EXPECT_TRUE(std::find(path.links.begin(), path.links.end(), "link_4") !=path.links.end());EXPECT_TRUE(path.joints.size()==3);EXPECT_TRUE(std::find(path.joints.begin(), path.joints.end(), "joint_a2") !=path.joints.end());EXPECT_TRUE(std::find(path.joints.begin(), path.joints.end(), "joint_a3") !=path.joints.end());EXPECT_TRUE(std::find(path.joints.begin(), path.joints.end(), "joint_a4") !=path.joints.end());} { { tesseract_scene_graph::SceneGraph::Ptr sg=nullptr;bool success=true;try { tesseract_urdf::writeURDFFile(sg, "/tmp/", "urdf0.urdf");} catch(...) { success=false;} EXPECT_FALSE(success);} { tesseract_scene_graph::SceneGraph::Ptr sg=std::make_shared< tesseract_scene_graph::SceneGraph > ( )