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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	unittest/urdf.cpp	Lines:	128	128	100.0 %
Date:	2024-04-26 13:14:21	Branches:	696	1416	49.2 %


//
// Copyright (c) 2015-2021 CNRS INRIA
//

#include <iostream>
#include <fstream>
#include <streambuf>

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/parsers/urdf.hpp"

#ifdef PINOCCHIO_WITH_HPP_FCL
#include <hpp/fcl/collision_object.h>
#endif // PINOCCHIO_WITH_HPP_FCL

#include <boost/test/unit_test.hpp>

#include <urdf_parser/urdf_parser.h>


BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )

BOOST_AUTO_TEST_CASE ( build_model )
{
  const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
  const std::string dir = PINOCCHIO_MODEL_DIR;

  pinocchio::Model model;
  pinocchio::urdf::buildModel(filename, model);
  pinocchio::GeometryModel geomModel;
  pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, dir);

  BOOST_CHECK(model.nq == 31);
}

BOOST_AUTO_TEST_CASE ( build_model_simple_humanoid )
{
  const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
  const std::string dir = PINOCCHIO_MODEL_DIR;

  pinocchio::Model model;
  pinocchio::urdf::buildModel(filename, model);

  BOOST_CHECK_EQUAL(model.nq, 29);

  // Check that parsing collision_checking works.
  pinocchio::GeometryModel geomModel;
  pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, dir);
  BOOST_CHECK_EQUAL(geomModel.ngeoms, 2);

#ifdef PINOCCHIO_WITH_HPP_FCL
  // Check that cylinder is converted into capsule.
#ifdef PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
  BOOST_CHECK_EQUAL(geomModel.geometryObjects[0].geometry->getNodeType(), hpp::fcl::GEOM_CYLINDER);
#else // PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
  BOOST_CHECK_EQUAL(geomModel.geometryObjects[0].geometry->getNodeType(), hpp::fcl::GEOM_CAPSULE);
#endif

#ifndef PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
  BOOST_CHECK_EQUAL(geomModel.geometryObjects[1].geometry->getNodeType(), hpp::fcl::GEOM_CONVEX);
#else // PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
  BOOST_CHECK_EQUAL(geomModel.geometryObjects[1].geometry->getObjectType(), hpp::fcl::OT_BVH);
#endif
#endif // PINOCCHIO_WITH_HPP_FCL

  pinocchio::Model model_ff;
  pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model_ff);

  BOOST_CHECK(model_ff.nq == 36);
}

BOOST_AUTO_TEST_CASE ( check_mesh_relative_path )
{
  std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
  const std::string dir = PINOCCHIO_MODEL_DIR;

  pinocchio::Model model0;
  pinocchio::urdf::buildModel(filename, model0);
  pinocchio::GeometryModel geomModel0;
  pinocchio::urdf::buildGeom(model0, filename, pinocchio::COLLISION, geomModel0, dir);
  BOOST_CHECK_EQUAL(geomModel0.ngeoms, 2);

  // check if urdf with relative mesh path without //package can be loaded
  filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid_rel_mesh.urdf");
  pinocchio::Model model1;
  pinocchio::urdf::buildModel(filename, model1);
  pinocchio::GeometryModel geomModel1;
  pinocchio::urdf::buildGeom(model1, filename, pinocchio::COLLISION, geomModel1, dir);
  BOOST_CHECK_EQUAL(geomModel1.ngeoms, 2);

  BOOST_CHECK_EQUAL(geomModel0.geometryObjects[1].name.compare(geomModel1.geometryObjects[1].name), 0);
}

BOOST_AUTO_TEST_CASE ( build_model_from_XML )
{
  const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");

  // Read file as XML
  std::ifstream file;
  file.open(filename.c_str());
  std::string filestr((std::istreambuf_iterator<char>(file)),
                      std::istreambuf_iterator<char>());

  pinocchio::Model model;
  pinocchio::urdf::buildModelFromXML(filestr, model);

  BOOST_CHECK(model.nq == 31);
}

BOOST_AUTO_TEST_CASE ( check_tree_from_XML )
{
  // Read file as XML
  std::string filestr(
      "<?xml version=\"1.0\" encoding=\"utf-8\"?>"
      "<robot name=\"test\">"
      "  <link name=\"base_link\"/>"
      "  <link name=\"link_1\"/>"
      "  <link name=\"link_2\"/>"
      "  <joint name=\"joint_1\" type=\"fixed\">"
      "    <origin xyz=\"1 0 0\"/>"
      "    <axis xyz=\"0 0 1\"/>"
      "    <parent link=\"base_link\"/>"
      "    <child link=\"link_1\"/>"
      "  </joint>"
      "  <joint name=\"joint_2\" type=\"fixed\">"
      "    <origin xyz=\"0 1 0\"/>"
      "    <axis xyz=\"0 0 1\"/>"
      "    <parent link=\"link_1\"/>"
      "    <child link=\"link_2\"/>"
      "  </joint>"
      "</robot>"
      );

  pinocchio::Model model;
  pinocchio::urdf::buildModelFromXML(filestr, model);

  pinocchio::JointIndex
    base_link_id = model.getFrameId("base_link"),
    link1_id     = model.getFrameId("link_1"),
    link2_id     = model.getFrameId("link_2"),
    joint1_id    = model.getFrameId("joint_1"),
    joint2_id    = model.getFrameId("joint_2");

  BOOST_CHECK_EQUAL(base_link_id, model.frames[joint1_id].previousFrame);
  BOOST_CHECK_EQUAL(joint1_id   , model.frames[link1_id ].previousFrame);
  BOOST_CHECK_EQUAL(link1_id    , model.frames[joint2_id].previousFrame);
  BOOST_CHECK_EQUAL(joint2_id   , model.frames[link2_id ].previousFrame);
}

BOOST_AUTO_TEST_CASE ( build_model_from_UDRFTree )
{
  const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");

  ::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);

  pinocchio::Model model;
  pinocchio::urdf::buildModel(urdfTree, model);

  BOOST_CHECK(model.nq == 31);
}

BOOST_AUTO_TEST_CASE ( build_model_with_joint )
{
  const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
  const std::string dir = PINOCCHIO_MODEL_DIR;

  pinocchio::Model model;
  pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
  pinocchio::GeometryModel geomModel_collision, geomModel_visual;
  pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel_collision, dir);
  pinocchio::urdf::buildGeom(model, filename, pinocchio::VISUAL, geomModel_visual, dir);

  BOOST_CHECK(model.nq == 38);
}

BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_XML )
{
  const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");

  // Read file as XML
  std::ifstream file;
  file.open(filename.c_str());
  std::string filestr((std::istreambuf_iterator<char>(file)),
                      std::istreambuf_iterator<char>());

  pinocchio::Model model;
  pinocchio::urdf::buildModelFromXML(filestr, pinocchio::JointModelFreeFlyer(), model);

  BOOST_CHECK(model.nq == 38);
}

BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_UDRFTree )
{
  const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");

  ::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);

  pinocchio::Model model;
  pinocchio::urdf::buildModel(urdfTree, pinocchio::JointModelFreeFlyer(), model);

  BOOST_CHECK(model.nq == 38);
}

BOOST_AUTO_TEST_CASE(append_two_URDF_models)
{
  const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");

  pinocchio::Model model;
  pinocchio::urdf::buildModel(filename, model);

  BOOST_CHECK(model.njoints == 30);
  const int nframes = model.nframes;
  const std::string filestr(
                            "<?xml version=\"1.0\" encoding=\"utf-8\"?>"
                            "<robot name=\"test\">"
                            "  <link name=\"box\"/>"
                            "</robot>"
                            );

  pinocchio::urdf::buildModelFromXML(filestr, model);
  BOOST_CHECK(model.njoints == 30);
  BOOST_CHECK(nframes + 1 == model.nframes);
}

BOOST_AUTO_TEST_CASE(append_two_URDF_models_with_root_joint)
{
  const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");

  pinocchio::Model model;
  pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);

  BOOST_CHECK(model.njoints == 31);
  const std::string filestr(
                            "<?xml version=\"1.0\" encoding=\"utf-8\"?>"
                            "<robot name=\"test\">"
                            "  <link name=\"box\"/>"
                            "</robot>"
                            );


  BOOST_CHECK_THROW(pinocchio::urdf::buildModelFromXML(filestr, pinocchio::JointModelFreeFlyer(), model),
                    std::invalid_argument);
}

BOOST_AUTO_TEST_CASE(check_specific_models)
{
  const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/baxter_simple.urdf");

  pinocchio::Model model;
  pinocchio::urdf::buildModel(filename, model);
}

BOOST_AUTO_TEST_CASE(test_getFrameId_identical_link_and_joint_name)
{
    // This test checks whether the input argument of getFrameId raises an exception when multiple frames with identical names are found.
    // Note, a model that contains a link and a joint with the same name is valid, but the look-up for e.g. getFrameId requires the explicit
    // specification of the FrameType in order to be valid.
    // It resolved https://github.com/stack-of-tasks/pinocchio/issues/1771
    pinocchio::Model model;
    const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/../unittest/models/link_and_joint_identical_name.urdf");
    pinocchio::urdf::buildModel(filename,model);

    BOOST_CHECK_THROW(model.getFrameId("base"), std::invalid_argument);
    BOOST_CHECK(model.getFrameId("base", pinocchio::FrameType::BODY) == 2);
    BOOST_CHECK(model.getFrameId("base", pinocchio::FrameType::FIXED_JOINT) == 3);
}

BOOST_AUTO_TEST_SUITE_END()


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2021 CNRS INRIA
3			//
4
5			#include <iostream>
6			#include <fstream>
7			#include <streambuf>
8
9			#include "pinocchio/multibody/model.hpp"
10			#include "pinocchio/parsers/urdf.hpp"
11
12			#ifdef PINOCCHIO_WITH_HPP_FCL
13			#include <hpp/fcl/collision_object.h>
14			#endif // PINOCCHIO_WITH_HPP_FCL
15
16			#include <boost/test/unit_test.hpp>
17
18			#include <urdf_parser/urdf_parser.h>
19
20
21			BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
22
23	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE ( build_model )
24			{
25	✓✗✓✗	6	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
26	✓✗	4	const std::string dir = PINOCCHIO_MODEL_DIR;
27
28	✓✗	4	pinocchio::Model model;
29	✓✗	2	pinocchio::urdf::buildModel(filename, model);
30	✓✗	4	pinocchio::GeometryModel geomModel;
31	✓✗	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, dir);
32
33	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model.nq == 31);
34		2	}
35
36	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE ( build_model_simple_humanoid )
37			{
38	✓✗✓✗	6	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
39	✓✗	4	const std::string dir = PINOCCHIO_MODEL_DIR;
40
41	✓✗	4	pinocchio::Model model;
42	✓✗	2	pinocchio::urdf::buildModel(filename, model);
43
44	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(model.nq, 29);
45
46			// Check that parsing collision_checking works.
47	✓✗	4	pinocchio::GeometryModel geomModel;
48	✓✗	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, dir);
49	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(geomModel.ngeoms, 2);
50
51			#ifdef PINOCCHIO_WITH_HPP_FCL
52			// Check that cylinder is converted into capsule.
53			#ifdef PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
54			BOOST_CHECK_EQUAL(geomModel.geometryObjects[0].geometry->getNodeType(), hpp::fcl::GEOM_CYLINDER);
55			#else // PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
56	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_EQUAL(geomModel.geometryObjects[0].geometry->getNodeType(), hpp::fcl::GEOM_CAPSULE);
57			#endif
58
59			#ifndef PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
60	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_EQUAL(geomModel.geometryObjects[1].geometry->getNodeType(), hpp::fcl::GEOM_CONVEX);
61			#else // PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
62			BOOST_CHECK_EQUAL(geomModel.geometryObjects[1].geometry->getObjectType(), hpp::fcl::OT_BVH);
63			#endif
64			#endif // PINOCCHIO_WITH_HPP_FCL
65
66	✓✗	4	pinocchio::Model model_ff;
67	✓✗✓✗ ✓✗	2	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model_ff);
68
69	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model_ff.nq == 36);
70		2	}
71
72	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE ( check_mesh_relative_path )
73			{
74	✓✗✓✗	6	std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
75	✓✗	4	const std::string dir = PINOCCHIO_MODEL_DIR;
76
77	✓✗	4	pinocchio::Model model0;
78	✓✗	2	pinocchio::urdf::buildModel(filename, model0);
79	✓✗	4	pinocchio::GeometryModel geomModel0;
80	✓✗	2	pinocchio::urdf::buildGeom(model0, filename, pinocchio::COLLISION, geomModel0, dir);
81	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(geomModel0.ngeoms, 2);
82
83			// check if urdf with relative mesh path without //package can be loaded
84	✓✗✓✗	2	filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid_rel_mesh.urdf");
85	✓✗	4	pinocchio::Model model1;
86	✓✗	2	pinocchio::urdf::buildModel(filename, model1);
87	✓✗	4	pinocchio::GeometryModel geomModel1;
88	✓✗	2	pinocchio::urdf::buildGeom(model1, filename, pinocchio::COLLISION, geomModel1, dir);
89	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(geomModel1.ngeoms, 2);
90
91	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_EQUAL(geomModel0.geometryObjects[1].name.compare(geomModel1.geometryObjects[1].name), 0);
92		2	}
93
94	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE ( build_model_from_XML )
95			{
96	✓✗✓✗	6	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
97
98			// Read file as XML
99	✓✗	4	std::ifstream file;
100	✓✗	2	file.open(filename.c_str());
101			std::string filestr((std::istreambuf_iterator<char>(file)),
102	✓✗	4	std::istreambuf_iterator<char>());
103
104	✓✗	4	pinocchio::Model model;
105	✓✗	2	pinocchio::urdf::buildModelFromXML(filestr, model);
106
107	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model.nq == 31);
108		2	}
109
110	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE ( check_tree_from_XML )
111			{
112			// Read file as XML
113			std::string filestr(
114			"<?xml version=\"1.0\" encoding=\"utf-8\"?>"
115			"<robot name=\"test\">"
116			" <link name=\"base_link\"/>"
117			" <link name=\"link_1\"/>"
118			" <link name=\"link_2\"/>"
119			" <joint name=\"joint_1\" type=\"fixed\">"
120			" <origin xyz=\"1 0 0\"/>"
121			" <axis xyz=\"0 0 1\"/>"
122			" <parent link=\"base_link\"/>"
123			" <child link=\"link_1\"/>"
124			" </joint>"
125			" <joint name=\"joint_2\" type=\"fixed\">"
126			" <origin xyz=\"0 1 0\"/>"
127			" <axis xyz=\"0 0 1\"/>"
128			" <parent link=\"link_1\"/>"
129			" <child link=\"link_2\"/>"
130			" </joint>"
131			"</robot>"
132	✓✗	4	);
133
134	✓✗	4	pinocchio::Model model;
135	✓✗	2	pinocchio::urdf::buildModelFromXML(filestr, model);
136
137			pinocchio::JointIndex
138	✓✗✓✗	2	base_link_id = model.getFrameId("base_link"),
139	✓✗✓✗	2	link1_id = model.getFrameId("link_1"),
140	✓✗✓✗	2	link2_id = model.getFrameId("link_2"),
141	✓✗✓✗	2	joint1_id = model.getFrameId("joint_1"),
142	✓✗✓✗	2	joint2_id = model.getFrameId("joint_2");
143
144	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(base_link_id, model.frames[joint1_id].previousFrame);
145	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(joint1_id , model.frames[link1_id ].previousFrame);
146	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(link1_id , model.frames[joint2_id].previousFrame);
147	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(joint2_id , model.frames[link2_id ].previousFrame);
148		2	}
149
150	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE ( build_model_from_UDRFTree )
151			{
152	✓✗✓✗	6	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
153
154	✓✗	4	::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);
155
156	✓✗	4	pinocchio::Model model;
157	✓✗	2	pinocchio::urdf::buildModel(urdfTree, model);
158
159	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model.nq == 31);
160		2	}
161
162	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE ( build_model_with_joint )
163			{
164	✓✗✓✗	6	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
165	✓✗	4	const std::string dir = PINOCCHIO_MODEL_DIR;
166
167	✓✗	4	pinocchio::Model model;
168	✓✗✓✗ ✓✗	2	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
169	✓✗✓✗	4	pinocchio::GeometryModel geomModel_collision, geomModel_visual;
170	✓✗	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel_collision, dir);
171	✓✗	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::VISUAL, geomModel_visual, dir);
172
173	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model.nq == 38);
174		2	}
175
176	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_XML )
177			{
178	✓✗✓✗	6	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
179
180			// Read file as XML
181	✓✗	4	std::ifstream file;
182	✓✗	2	file.open(filename.c_str());
183			std::string filestr((std::istreambuf_iterator<char>(file)),
184	✓✗	4	std::istreambuf_iterator<char>());
185
186	✓✗	4	pinocchio::Model model;
187	✓✗✓✗ ✓✗	2	pinocchio::urdf::buildModelFromXML(filestr, pinocchio::JointModelFreeFlyer(), model);
188
189	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model.nq == 38);
190		2	}
191
192	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_UDRFTree )
193			{
194	✓✗✓✗	6	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
195
196	✓✗	4	::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);
197
198	✓✗	4	pinocchio::Model model;
199	✓✗✓✗ ✓✗	2	pinocchio::urdf::buildModel(urdfTree, pinocchio::JointModelFreeFlyer(), model);
200
201	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model.nq == 38);
202		2	}
203
204	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(append_two_URDF_models)
205			{
206	✓✗✓✗	6	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
207
208	✓✗	4	pinocchio::Model model;
209	✓✗	2	pinocchio::urdf::buildModel(filename, model);
210
211	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model.njoints == 30);
212		2	const int nframes = model.nframes;
213			const std::string filestr(
214			"<?xml version=\"1.0\" encoding=\"utf-8\"?>"
215			"<robot name=\"test\">"
216			" <link name=\"box\"/>"
217			"</robot>"
218	✓✗	4	);
219
220	✓✗	2	pinocchio::urdf::buildModelFromXML(filestr, model);
221	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model.njoints == 30);
222	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(nframes + 1 == model.nframes);
223		2	}
224
225	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(append_two_URDF_models_with_root_joint)
226			{
227	✓✗✓✗	6	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
228
229	✓✗	4	pinocchio::Model model;
230	✓✗✓✗ ✓✗	2	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
231
232	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model.njoints == 31);
233			const std::string filestr(
234			"<?xml version=\"1.0\" encoding=\"utf-8\"?>"
235			"<robot name=\"test\">"
236			" <link name=\"box\"/>"
237			"</robot>"
238	✓✗	6	);
239
240
241	✓✗✓✗ ✓✗✓✗ ✗✓✗✗ ✗✗✗✗ ✗✗✗✗ ✗✗✗✓ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	8	BOOST_CHECK_THROW(pinocchio::urdf::buildModelFromXML(filestr, pinocchio::JointModelFreeFlyer(), model),
242			std::invalid_argument);
243		2	}
244
245	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(check_specific_models)
246			{
247	✓✗✓✗	6	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/baxter_simple.urdf");
248
249	✓✗	4	pinocchio::Model model;
250	✓✗	2	pinocchio::urdf::buildModel(filename, model);
251		2	}
252
253	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_getFrameId_identical_link_and_joint_name)
254			{
255			// This test checks whether the input argument of getFrameId raises an exception when multiple frames with identical names are found.
256			// Note, a model that contains a link and a joint with the same name is valid, but the look-up for e.g. getFrameId requires the explicit
257			// specification of the FrameType in order to be valid.
258			// It resolved https://github.com/stack-of-tasks/pinocchio/issues/1771
259	✓✗	4	pinocchio::Model model;
260	✓✗✓✗	6	const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/../unittest/models/link_and_joint_identical_name.urdf");
261	✓✗	2	pinocchio::urdf::buildModel(filename,model);
262
263	✓✗✓✗ ✓✗✗✓ ✗✗✗✗ ✗✗✗✗ ✗✗✗✗ ✗✓✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	10	BOOST_CHECK_THROW(model.getFrameId("base"), std::invalid_argument);
264	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model.getFrameId("base", pinocchio::FrameType::BODY) == 2);
265	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model.getFrameId("base", pinocchio::FrameType::FIXED_JOINT) == 3);
266		2	}
267
268			BOOST_AUTO_TEST_SUITE_END()