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Add tests for the joint type
Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
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‎urdf_parser/test/urdf_schema_v1_0_legacy_test.cpp‎

Lines changed: 173 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -953,6 +953,179 @@ TEST(URDF_V1_0_LEGACY, quat_xyzw_ignored_in_v1_0)
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EXPECT_DOUBLE_EQ(0.0, z);
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EXPECT_DOUBLE_EQ(1.0, w);
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}
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/// @note Joint types
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TEST(URDF_V1_0_LEGACY, revolute_joint_with_limits)
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{
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std::string urdf_str = R"urdf(
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<robot name="r" version="1.0">
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<link name="l1"/>
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<link name="l2"/>
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<joint name="j1" type="revolute">
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<parent link="l1"/>
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<child link="l2"/>
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<limit lower="-1.57" upper="1.57" effort="100.0" velocity="2.0"/>
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</joint>
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</robot>
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)urdf";
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urdf::ModelInterfaceSharedPtr model = urdf::parseURDF(urdf_str);
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ASSERT_NE(nullptr, model);
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EXPECT_EQ(urdf::Joint::REVOLUTE, model->getJoint("j1")->type);
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ASSERT_NE(nullptr, model->getJoint("j1")->limits);
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EXPECT_DOUBLE_EQ(-1.57, model->getJoint("j1")->limits->lower);
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EXPECT_DOUBLE_EQ( 1.57, model->getJoint("j1")->limits->upper);
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EXPECT_DOUBLE_EQ(100.0, model->getJoint("j1")->limits->effort);
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EXPECT_DOUBLE_EQ( 2.0, model->getJoint("j1")->limits->velocity);
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}
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TEST(URDF_V1_0_LEGACY, revolute_joint_without_limits_fails)
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{
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std::string urdf_str = R"urdf(
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<robot name="r" version="1.0">
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<link name="l1"/>
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<link name="l2"/>
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<joint name="j1" type="revolute">
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<parent link="l1"/>
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<child link="l2"/>
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</joint>
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</robot>
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)urdf";
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EXPECT_EQ(nullptr, urdf::parseURDF(urdf_str));
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}
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TEST(URDF_V1_0_LEGACY, prismatic_joint_with_limits)
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{
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std::string urdf_str = R"urdf(
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<robot name="r" version="1.0">
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<link name="l1"/>
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<link name="l2"/>
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<joint name="j1" type="prismatic">
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<parent link="l1"/>
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<child link="l2"/>
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<axis xyz="0 0 1"/>
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<limit lower="-0.5" upper="0.5" effort="50.0" velocity="0.5"/>
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</joint>
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</robot>
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)urdf";
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urdf::ModelInterfaceSharedPtr model = urdf::parseURDF(urdf_str);
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ASSERT_NE(nullptr, model);
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EXPECT_EQ(urdf::Joint::PRISMATIC, model->getJoint("j1")->type);
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}
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TEST(URDF_V1_0_LEGACY, prismatic_joint_without_limits_fails)
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{
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std::string urdf_str = R"urdf(
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<robot name="r" version="1.0">
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<link name="l1"/>
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<link name="l2"/>
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<joint name="j1" type="prismatic">
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<parent link="l1"/>
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<child link="l2"/>
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</joint>
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</robot>
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)urdf";
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EXPECT_EQ(nullptr, urdf::parseURDF(urdf_str));
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}
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TEST(URDF_V1_0_LEGACY, continuous_joint_no_limits_required)
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{
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std::string urdf_str = R"urdf(
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<robot name="r" version="1.0">
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<link name="l1"/>
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<link name="l2"/>
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<joint name="j1" type="continuous">
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<parent link="l1"/>
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<child link="l2"/>
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</joint>
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</robot>
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)urdf";
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urdf::ModelInterfaceSharedPtr model = urdf::parseURDF(urdf_str);
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ASSERT_NE(nullptr, model);
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EXPECT_EQ(urdf::Joint::CONTINUOUS, model->getJoint("j1")->type);
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EXPECT_EQ(nullptr, model->getJoint("j1")->limits);
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}
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TEST(URDF_V1_0_LEGACY, fixed_joint_no_limits_required)
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{
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std::string urdf_str = R"urdf(
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<robot name="r" version="1.0">
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<link name="l1"/>
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<link name="l2"/>
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<joint name="j1" type="fixed">
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<parent link="l1"/>
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<child link="l2"/>
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</joint>
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</robot>
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)urdf";
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urdf::ModelInterfaceSharedPtr model = urdf::parseURDF(urdf_str);
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ASSERT_NE(nullptr, model);
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EXPECT_EQ(urdf::Joint::FIXED, model->getJoint("j1")->type);
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EXPECT_EQ(nullptr, model->getJoint("j1")->limits);
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}
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TEST(URDF_V1_0_LEGACY, floating_joint_no_limits_required)
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{
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std::string urdf_str = R"urdf(
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<robot name="r" version="1.0">
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<link name="l1"/>
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<link name="l2"/>
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<joint name="j1" type="floating">
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<parent link="l1"/>
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<child link="l2"/>
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</joint>
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</robot>
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)urdf";
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urdf::ModelInterfaceSharedPtr model = urdf::parseURDF(urdf_str);
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ASSERT_NE(nullptr, model);
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EXPECT_EQ(urdf::Joint::FLOATING, model->getJoint("j1")->type);
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}
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TEST(URDF_V1_0_LEGACY, planar_joint_no_limits_required)
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{
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std::string urdf_str = R"urdf(
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<robot name="r" version="1.0">
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<link name="l1"/>
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<link name="l2"/>
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<joint name="j1" type="planar">
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<parent link="l1"/>
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<child link="l2"/>
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</joint>
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</robot>
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)urdf";
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urdf::ModelInterfaceSharedPtr model = urdf::parseURDF(urdf_str);
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ASSERT_NE(nullptr, model);
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EXPECT_EQ(urdf::Joint::PLANAR, model->getJoint("j1")->type);
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}
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TEST(URDF_V1_0_LEGACY, unknown_joint_type_fails)
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{
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std::string urdf_str = R"urdf(
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<robot name="r" version="1.0">
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<link name="l1"/>
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<link name="l2"/>
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<joint name="j1" type="spring">
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<parent link="l1"/>
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<child link="l2"/>
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</joint>
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</robot>
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)urdf";
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EXPECT_EQ(nullptr, urdf::parseURDF(urdf_str));
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}
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TEST(URDF_V1_0_LEGACY, joint_without_type_attr_fails)
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{
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std::string urdf_str = R"urdf(
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<robot name="r" version="1.0">
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<link name="l1"/>
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<link name="l2"/>
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<joint name="j1">
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<parent link="l1"/>
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<child link="l2"/>
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</joint>
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</robot>
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)urdf";
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EXPECT_EQ(nullptr, urdf::parseURDF(urdf_str));
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}
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);

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