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Gabriele Buondonno
pinocchio
Commits
b74dcb66
Commit
b74dcb66
authored
Jan 11, 2018
by
jcarpent
Browse files
[Test] Increase URDF test with input joint
parent
27b1d6b9
Changes
1
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Inline
Side-by-side
unittest/urdf.cpp
View file @
b74dcb66
...
...
@@ -25,7 +25,7 @@
BOOST_AUTO_TEST_SUITE
(
BOOST_TEST_MODULE
)
BOOST_AUTO_TEST_CASE
(
build
M
odel
)
BOOST_AUTO_TEST_CASE
(
build
_m
odel
)
{
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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