GCC Code Coverage Report

Directory: ./
File: tests/urdf.cc
Date: 2025-05-04 12:09:19
Exec Total Coverage
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1 // Copyright (c) 2019, Joseph Mirabel
2 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3 //
4
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are
7 // met:
8 //
9 // 1. Redistributions of source code must retain the above copyright
10 // notice, this list of conditions and the following disclaimer.
11 //
12 // 2. Redistributions in binary form must reproduce the above copyright
13 // notice, this list of conditions and the following disclaimer in the
14 // documentation and/or other materials provided with the distribution.
15 //
16 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24 // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27 // DAMAGE.
28
29 #define BOOST_TEST_MODULE urdf
30
31 #include <boost/test/unit_test.hpp>
32 #include <hpp/pinocchio/device.hh>
33 #include <hpp/pinocchio/joint.hh>
34 #include <hpp/pinocchio/urdf/util.hh>
35
36 using namespace hpp::pinocchio;
37
38
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 4 BOOST_AUTO_TEST_CASE(mimic_joint) {
39 std::string urdf(
40 "<robot name='test'>"
41 "<link name='base_link'/>"
42 "<link name='link1'/>"
43 "<joint name='joint1' type='revolute'>"
44 " <parent link='base_link'/>"
45 " <child link='link1'/>"
46 " <limit effort='30' velocity='1.0' />"
47 "</joint>"
48 "<link name='link2'/>"
49 "<joint name='joint2' type='revolute'>"
50 " <parent link='base_link'/>"
51 " <child link='link2'/>"
52 " <mimic joint='joint1' multiplier='-1.' offset='0.5' />"
53 " <limit effort='30' velocity='1.0' />"
54 "</joint>"
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 2 "</robot>");
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 4 DevicePtr_t robot = Device::create("test");
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 2 urdf::loadModelFromString(robot, 0, "test", "anchor", urdf, "");
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 2 BOOST_REQUIRE(robot);
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 2 BOOST_REQUIRE_EQUAL(robot->jointConstraints().size(), 1);
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 2 BOOST_CHECK_EQUAL(robot->jointConstraints()[0].multiplier, -1.);
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 2 BOOST_CHECK_EQUAL(robot->jointConstraints()[0].offset, 0.5);
63 2 }
64