Commit b74dcb66 authored by jcarpent's avatar jcarpent
Browse files

[Test] Increase URDF test with input joint

parent 27b1d6b9
......@@ -25,7 +25,7 @@
BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
BOOST_AUTO_TEST_CASE ( buildModel )
BOOST_AUTO_TEST_CASE ( build_model )
{
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
......@@ -36,5 +36,19 @@ BOOST_AUTO_TEST_CASE ( buildModel )
se3::urdf::buildModel(filename, model);
std::cout << "Robot's name:" << model.name << std::endl;
}
BOOST_AUTO_TEST_CASE ( build_model_with_joint )
{
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
#ifndef NDEBUG
std::cout << "Parse filename \"" << filename << "\"" << std::endl;
#endif
se3::Model model;
se3::urdf::buildModel(filename, se3::JointModelFreeFlyer(), model);
se3::GeometryModel geomModel;
se3::urdf::buildGeom(model, filename, se3::COLLISION, geomModel);
std::cout << "Robot's name:" << model.name << std::endl;
}
BOOST_AUTO_TEST_SUITE_END()
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