22#include <gtest/gtest.h>
23#include <libs/kdl_parser/kdl_parser.h>
25#include <kdl/tree.hpp>
29using namespace fawkes::kdl_parser;
51 string filename =
"invalidFileName";
53 ASSERT_ANY_THROW(tree_from_file(filename, tree));
58 EXPECT_EQ((
unsigned int)9, tree.getNrOfJoints());
59 EXPECT_EQ((
unsigned int)37, tree.getNrOfSegments());
65 ASSERT_TRUE(tree.getChain(
"/base_link",
"katana_l_finger_link", chain));
66 EXPECT_EQ(9, chain.getNrOfSegments());
67 EXPECT_EQ(6, chain.getNrOfJoints());
72 EXPECT_EQ(
"/base_link", tree.getRootSegment()->first);
73 EXPECT_EQ(tree.getSegment(
"/base_link"), tree.getRootSegment());
Test Class for KDLParser.
string urdf_file
The URDF file path.
virtual void SetUp()
Load the robot description and initialize the tree.
KDL::Tree tree
The result of parsing the URDF file.
Fawkes library namespace.