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Link_TEST: use string literals for model string
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Signed-off-by: Steve Peters <[email protected]>
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@scpeters
scpeters committed Dec 15, 2023
1 parent 359875e commit b41b48b
Showing 1 changed file with 136 additions and 134 deletions.
270 changes: 136 additions & 134 deletions src/Link_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -319,70 +319,71 @@ TEST(DOMLink, ResolveAutoInertialsWithNoCollisionsInLink)
/////////////////////////////////////////////////
TEST(DOMLink, ResolveAutoInertialsWithDifferentDensity)
{
std::string sdf = "<?xml version=\"1.0\"?>"
"<sdf version=\"1.11\">"
" <model name='multilink_model'>"
" <pose>0 0 1.0 0 0 0</pose>"
" <link name='link_density'>"
" <pose>0 1.0 0 0 0 0</pose>"
" <inertial auto='true'>"
" <density>12.0</density>"
" </inertial>"
" <collision name='box_collision'>"
" <pose>1.0 0 0 0 0 0</pose>"
" <geometry>"
" <box>"
" <size>1 1 1</size>"
" </box>"
" </geometry>"
" </collision>"
" </link>"
" <link name='collision_density'>"
" <pose>0 2.0 0 0 0 0</pose>"
" <inertial auto='true'/>"
" <collision name='box_collision'>"
" <pose>1.0 0 0 0 0 0</pose>"
" <density>24.0</density>"
" <geometry>"
" <box>"
" <size>1 1 1</size>"
" </box>"
" </geometry>"
" </collision>"
" </link>"
" <link name='collision_density_overrides_link_density'>"
" <pose>0 3.0 0 0 0 0</pose>"
" <inertial auto='true'>"
" <density>12.0</density>"
" </inertial>"
" <collision name='box_collision'>"
" <pose>1.0 0 0 0 0 0</pose>"
" <density>24.0</density>"
" <geometry>"
" <box>"
" <size>1 1 1</size>"
" </box>"
" </geometry>"
" </collision>"
" </link>"
" <link name='default_density'>"
" <pose>0 4.0 0 0 0 0</pose>"
" <inertial auto='true'/>"
" <collision name='box_collision'>"
" <pose>1.0 0 0 0 0 0</pose>"
" <geometry>"
" <box>"
" <size>1 1 1</size>"
" </box>"
" </geometry>"
" </collision>"
" </link>"
" </model>"
"</sdf>";
const std::string sdfString = R"(
<?xml version="1.0"?>
<sdf version="1.11">
<model name='multilink_model'>
<pose>0 0 1.0 0 0 0</pose>
<link name='link_density'>
<pose>0 1.0 0 0 0 0</pose>
<inertial auto='true'>
<density>12.0</density>
</inertial>
<collision name='box_collision'>
<pose>1.0 0 0 0 0 0</pose>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
</link>
<link name='collision_density'>
<pose>0 2.0 0 0 0 0</pose>
<inertial auto='true'/>
<collision name='box_collision'>
<pose>1.0 0 0 0 0 0</pose>
<density>24.0</density>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
</link>
<link name='collision_density_overrides_link_density'>
<pose>0 3.0 0 0 0 0</pose>
<inertial auto='true'>
<density>12.0</density>
</inertial>
<collision name='box_collision'>
<pose>1.0 0 0 0 0 0</pose>
<density>24.0</density>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
</link>
<link name='default_density'>
<pose>0 4.0 0 0 0 0</pose>
<inertial auto='true'/>
<collision name='box_collision'>
<pose>1.0 0 0 0 0 0</pose>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
</link>
</model>
</sdf>)";

sdf::Root root;
const sdf::ParserConfig sdfParserConfig;
sdf::Errors errors = root.LoadSdfString(sdf, sdfParserConfig);
sdf::Errors errors = root.LoadSdfString(sdfString, sdfParserConfig);
EXPECT_TRUE(errors.empty()) << errors;
EXPECT_NE(nullptr, root.Element());

Expand Down Expand Up @@ -468,78 +469,79 @@ TEST(DOMLink, ResolveAutoInertialsWithDifferentDensity)
/////////////////////////////////////////////////
TEST(DOMLink, ResolveAutoInertialsWithDifferentAutoInertiaParams)
{
std::string sdf = "<?xml version=\"1.0\"?>"
"<sdf version=\"1.11\">"
" <model name='multilink_model'>"
" <pose>0 0 1.0 0 0 0</pose>"
" <link name='link_auto_inertia_params'>"
" <pose>0 1.0 0 0 0 0</pose>"
" <inertial auto='true'>"
" <auto_inertia_params>"
" <gz:density>12</gz:density>"
" <gz:box_size>1 1 1</gz:box_size>"
" </auto_inertia_params>"
" </inertial>"
" <collision name='box_collision'>"
" <pose>1.0 0 0 0 0 0</pose>"
" <geometry>"
" <mesh>"
" <uri>uri</uri>"
" </mesh>"
" </geometry>"
" </collision>"
" </link>"
" <link name='collision_auto_inertia_params'>"
" <pose>0 2.0 0 0 0 0</pose>"
" <inertial auto='true'/>"
" <collision name='box_collision'>"
" <pose>2.0 0 0 0 0 0</pose>"
" <auto_inertia_params>"
" <gz:density>24</gz:density>"
" <gz:box_size>1 1 1</gz:box_size>"
" </auto_inertia_params>"
" <geometry>"
" <mesh>"
" <uri>uri</uri>"
" </mesh>"
" </geometry>"
" </collision>"
" </link>"
" <link name='collision_auto_inertia_params_overrides'>"
" <pose>0 3.0 0 0 0 0</pose>"
" <inertial auto='true'>"
" <auto_inertia_params>"
" <gz:density>12</gz:density>"
" <gz:box_size>1 1 1</gz:box_size>"
" </auto_inertia_params>"
" </inertial>"
" <collision name='box_collision'>"
" <pose>3.0 0 0 0 0 0</pose>"
" <auto_inertia_params>"
" <gz:density>24</gz:density>"
" <gz:box_size>1 1 1</gz:box_size>"
" </auto_inertia_params>"
" <geometry>"
" <mesh>"
" <uri>uri</uri>"
" </mesh>"
" </geometry>"
" </collision>"
" </link>"
" <link name='default_auto_inertia_params'>"
" <pose>0 4.0 0 0 0 0</pose>"
" <inertial auto='true'/>"
" <collision name='box_collision'>"
" <pose>4.0 0 0 0 0 0</pose>"
" <geometry>"
" <mesh>"
" <uri>uri</uri>"
" </mesh>"
" </geometry>"
" </collision>"
" </link>"
" </model>"
"</sdf>";
const std::string sdfString = R"(
<?xml version="1.0"?>
<sdf version="1.11">
<model name='multilink_model'>
<pose>0 0 1.0 0 0 0</pose>
<link name='link_auto_inertia_params'>
<pose>0 1.0 0 0 0 0</pose>
<inertial auto='true'>
<auto_inertia_params>
<gz:density>12</gz:density>
<gz:box_size>1 1 1</gz:box_size>
</auto_inertia_params>
</inertial>
<collision name='box_collision'>
<pose>1.0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>uri</uri>
</mesh>
</geometry>
</collision>
</link>
<link name='collision_auto_inertia_params'>
<pose>0 2.0 0 0 0 0</pose>
<inertial auto='true'/>
<collision name='box_collision'>
<pose>2.0 0 0 0 0 0</pose>
<auto_inertia_params>
<gz:density>24</gz:density>
<gz:box_size>1 1 1</gz:box_size>
</auto_inertia_params>
<geometry>
<mesh>
<uri>uri</uri>
</mesh>
</geometry>
</collision>
</link>
<link name='collision_auto_inertia_params_overrides'>
<pose>0 3.0 0 0 0 0</pose>
<inertial auto='true'>
<auto_inertia_params>
<gz:density>12</gz:density>
<gz:box_size>1 1 1</gz:box_size>
</auto_inertia_params>
</inertial>
<collision name='box_collision'>
<pose>3.0 0 0 0 0 0</pose>
<auto_inertia_params>
<gz:density>24</gz:density>
<gz:box_size>1 1 1</gz:box_size>
</auto_inertia_params>
<geometry>
<mesh>
<uri>uri</uri>
</mesh>
</geometry>
</collision>
</link>
<link name='default_auto_inertia_params'>
<pose>0 4.0 0 0 0 0</pose>
<inertial auto='true'/>
<collision name='box_collision'>
<pose>4.0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>uri</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>)";

// Lambda function for registering as custom inertia calculator
auto customMeshInertiaCalculator = [](
Expand Down Expand Up @@ -585,7 +587,7 @@ TEST(DOMLink, ResolveAutoInertialsWithDifferentAutoInertiaParams)
sdf::Root root;
sdf::ParserConfig sdfParserConfig;
sdfParserConfig.RegisterCustomInertiaCalc(customMeshInertiaCalculator);
sdf::Errors errors = root.LoadSdfString(sdf, sdfParserConfig);
sdf::Errors errors = root.LoadSdfString(sdfString, sdfParserConfig);
EXPECT_TRUE(errors.empty()) << errors;
EXPECT_NE(nullptr, root.Element());

Expand Down

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