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frame.cc
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/*
* Copyright 2015 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <sstream>
#include <string>
#include <gtest/gtest.h>
#include "sdf/Element.hh"
#include "sdf/Frame.hh"
#include "sdf/Filesystem.hh"
#include "sdf/Joint.hh"
#include "sdf/Link.hh"
#include "sdf/Model.hh"
#include "sdf/Root.hh"
#include "sdf/SDFImpl.hh"
#include "sdf/World.hh"
#include "sdf/parser.hh"
#include "sdf/sdf_config.h"
#include "test_config.h"
////////////////////////////////////////
// Test parsing a model element that has a frame element
TEST(Frame, ModelFrame)
{
std::ostringstream stream;
std::string version = SDF_VERSION;
stream
<< "<sdf version='" << version << "'>"
<< "<world name='default'>"
<< " <model name='my_model'>"
<< " <frame name='mframe'>"
<< " <pose relative_to='/world'>1 1 0 0 0 0</pose>"
<< " </frame>"
<< " <pose relative_to='mframe'>1 0 0 0 0 0</pose>"
<< " <link name='link'/>"
<< " </model>"
<< "</world>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
// Verify correct parsing
// world
ASSERT_TRUE(sdfParsed->Root()->HasElement("world"));
sdf::ElementPtr worldElem = sdfParsed->Root()->GetElement("world");
ASSERT_NE(worldElem, nullptr);
// model
ASSERT_TRUE(worldElem->HasElement("model"));
sdf::ElementPtr modelElem = worldElem->GetElement("model");
ASSERT_TRUE(modelElem);
EXPECT_TRUE(modelElem->HasAttribute("name"));
EXPECT_EQ(modelElem->Get<std::string>("name"), "my_model");
// model frame
EXPECT_TRUE(modelElem->HasElement("frame"));
sdf::ElementPtr frameElem = modelElem->GetElement("frame");
EXPECT_TRUE(frameElem->HasAttribute("name"));
EXPECT_EQ(frameElem->Get<std::string>("name"), "mframe");
// model frame pose
EXPECT_TRUE(frameElem->HasElement("pose"));
sdf::ElementPtr poseElem = frameElem->GetElement("pose");
EXPECT_TRUE(poseElem->HasAttribute("relative_to"));
EXPECT_EQ(poseElem->Get<std::string>("relative_to"), "/world");
EXPECT_EQ(poseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d(1, 1, 0, 0, 0, 0));
// model pose
EXPECT_TRUE(modelElem->HasElement("pose"));
sdf::ElementPtr modelPoseElem = modelElem->GetElement("pose");
EXPECT_TRUE(modelPoseElem->HasAttribute("relative_to"));
EXPECT_EQ(modelPoseElem->Get<std::string>("relative_to"), "mframe");
EXPECT_EQ(modelPoseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d(1, 0, 0, 0, 0, 0));
// link
EXPECT_TRUE(modelElem->HasElement("link"));
sdf::ElementPtr linkElem = modelElem->GetElement("link");
EXPECT_TRUE(linkElem->HasAttribute("name"));
EXPECT_EQ(linkElem->Get<std::string>("name"), "link");
}
////////////////////////////////////////
// Test parsing a model element with an empty frame element
TEST(Frame, FrameDefaultPose)
{
std::ostringstream stream;
std::string version = SDF_VERSION;
stream
<< "<sdf version='" << version << "'>"
<< "<model name='my_model'>"
<< " <frame name='mframe'/>"
<< " <link name='link'/>"
<< "</model>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
// Verify correct parsing
// model
EXPECT_TRUE(sdfParsed->Root()->HasElement("model"));
sdf::ElementPtr modelElem = sdfParsed->Root()->GetElement("model");
EXPECT_TRUE(modelElem->HasAttribute("name"));
EXPECT_EQ(modelElem->Get<std::string>("name"), "my_model");
// model frame
EXPECT_TRUE(modelElem->HasElement("frame"));
sdf::ElementPtr frameElem = modelElem->GetElement("frame");
EXPECT_TRUE(frameElem->HasAttribute("name"));
EXPECT_EQ(frameElem->Get<std::string>("name"), "mframe");
// model frame pose
EXPECT_TRUE(!frameElem->HasElement("pose"));
sdf::ElementPtr poseElem = frameElem->GetElement("pose");
EXPECT_TRUE(poseElem->HasAttribute("relative_to"));
EXPECT_EQ(poseElem->Get<std::string>("relative_to"), "");
EXPECT_EQ(poseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d(0, 0, 0, 0, 0, 0));
// link
EXPECT_TRUE(modelElem->HasElement("link"));
sdf::ElementPtr linkElem = modelElem->GetElement("link");
EXPECT_TRUE(linkElem->HasAttribute("name"));
EXPECT_EQ(linkElem->Get<std::string>("name"), "link");
}
////////////////////////////////////////
// Test parsing a model element with no frames - for backward compatibility
TEST(Frame, NoFrame)
{
std::ostringstream stream;
std::string version = SDF_VERSION;
stream
<< "<sdf version='" << version << "'>"
<< "<model name='my_model'>"
<< " <link name='link'/>"
<< "</model>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
// Verify correct parsing
// model
EXPECT_TRUE(sdfParsed->Root()->HasElement("model"));
sdf::ElementPtr modelElem = sdfParsed->Root()->GetElement("model");
EXPECT_TRUE(modelElem->HasAttribute("name"));
EXPECT_EQ(modelElem->Get<std::string>("name"), "my_model");
{
// model frame
EXPECT_TRUE(!modelElem->HasElement("frame"));
sdf::ElementPtr frameElem = modelElem->GetElement("frame");
EXPECT_TRUE(frameElem->HasAttribute("name"));
EXPECT_EQ(frameElem->Get<std::string>("name"), "");
// model frame pose
EXPECT_TRUE(!frameElem->HasElement("pose"));
sdf::ElementPtr poseElem = frameElem->GetElement("pose");
EXPECT_TRUE(poseElem->HasAttribute("relative_to"));
EXPECT_EQ(poseElem->Get<std::string>("relative_to"), "");
EXPECT_EQ(poseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d(0, 0, 0, 0, 0, 0));
}
// link
EXPECT_TRUE(modelElem->HasElement("link"));
sdf::ElementPtr linkElem = modelElem->GetElement("link");
EXPECT_TRUE(linkElem->HasAttribute("name"));
EXPECT_EQ(linkElem->Get<std::string>("name"), "link");
{
// link pose
EXPECT_TRUE(!linkElem->HasElement("pose"));
sdf::ElementPtr poseElem = linkElem->GetElement("pose");
EXPECT_TRUE(poseElem->HasAttribute("relative_to"));
EXPECT_EQ(poseElem->Get<std::string>("relative_to"), "");
EXPECT_EQ(poseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d(0, 0, 0, 0, 0, 0));
}
}
////////////////////////////////////////
// Test parsing nested model states
TEST(Frame, StateFrame)
{
std::ostringstream sdfStr;
sdfStr << "<sdf version ='" << SDF_VERSION << "'>"
<< "<world name='default'>"
<< "<state world_name='default'>"
<< "<model name='my_model'>"
<< " <frame name='mframe'>"
<< " <pose relative_to='/world'>1 0 2 0 0 0</pose>"
<< " </frame>"
<< " <pose relative_to='mframe'>3 3 9 0 0 0</pose>"
<< " <link name='my_link'>"
<< " <pose relative_to='lframe'>111 3 0 0 0 0</pose>"
<< " </link>"
<< "</model>"
<< "<light name='my_light'>"
<< " <pose relative_to='lframe'>99 0 22 0 0 0</pose>"
<< "</light>"
<< "</state>"
<< "</world>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(sdfStr.str(), sdfParsed));
// load the state sdf
EXPECT_TRUE(sdfParsed->Root()->HasElement("world"));
sdf::ElementPtr worldElem = sdfParsed->Root()->GetElement("world");
EXPECT_TRUE(worldElem->HasElement("state"));
sdf::ElementPtr stateElem = worldElem->GetElement("state");
EXPECT_TRUE(stateElem->HasElement("model"));
sdf::ElementPtr modelStateElem = stateElem->GetElement("model");
// model
EXPECT_TRUE(modelStateElem->HasAttribute("name"));
EXPECT_EQ(modelStateElem->Get<std::string>("name"), "my_model");
{
// model frame
EXPECT_TRUE(modelStateElem->HasElement("frame"));
sdf::ElementPtr frameElem = modelStateElem->GetElement("frame");
EXPECT_TRUE(frameElem->HasAttribute("name"));
EXPECT_EQ(frameElem->Get<std::string>("name"), "mframe");
// model frame pose
EXPECT_TRUE(frameElem->HasElement("pose"));
sdf::ElementPtr poseElem = frameElem->GetElement("pose");
EXPECT_TRUE(poseElem->HasAttribute("relative_to"));
EXPECT_EQ(poseElem->Get<std::string>("relative_to"), "/world");
EXPECT_EQ(poseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d(1, 0, 2, 0, 0, 0));
// model pose
EXPECT_TRUE(modelStateElem->HasElement("pose"));
sdf::ElementPtr modelPoseElem = modelStateElem->GetElement("pose");
EXPECT_TRUE(modelPoseElem->HasAttribute("relative_to"));
EXPECT_EQ(modelPoseElem->Get<std::string>("relative_to"), "mframe");
EXPECT_EQ(modelPoseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d(3, 3, 9, 0, 0, 0));
}
// link
EXPECT_TRUE(modelStateElem->HasElement("link"));
sdf::ElementPtr linkStateElem = modelStateElem->GetElement("link");
EXPECT_TRUE(linkStateElem->HasAttribute("name"));
EXPECT_EQ(linkStateElem->Get<std::string>("name"), "my_link");
{
// link pose
EXPECT_TRUE(linkStateElem->HasElement("pose"));
sdf::ElementPtr linkPoseElem = linkStateElem->GetElement("pose");
EXPECT_TRUE(linkPoseElem->HasAttribute("relative_to"));
EXPECT_EQ(linkPoseElem->Get<std::string>("relative_to"), "lframe");
EXPECT_EQ(linkPoseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d(111, 3, 0, 0, 0, 0));
}
EXPECT_TRUE(stateElem->HasElement("light"));
sdf::ElementPtr lightStateElem = stateElem->GetElement("light");
// light
EXPECT_TRUE(lightStateElem->HasAttribute("name"));
EXPECT_EQ(lightStateElem->Get<std::string>("name"), "my_light");
{
// light pose
EXPECT_TRUE(lightStateElem->HasElement("pose"));
sdf::ElementPtr lightPoseElem = lightStateElem->GetElement("pose");
EXPECT_TRUE(lightPoseElem->HasAttribute("relative_to"));
EXPECT_EQ(lightPoseElem->Get<std::string>("relative_to"), "lframe");
EXPECT_EQ(lightPoseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d(99, 0, 22, 0, 0, 0));
}
}
////////////////////////////////////////
// Test parsing a include element that has a pose element
TEST(Frame, IncludeRelativeTo)
{
const std::string MODEL_PATH =
sdf::testing::TestFile("integration", "model", "box");
std::ostringstream stream;
std::string version = SDF_VERSION;
stream
<< "<sdf version='" << version << "'>"
<< "<world name='default'>"
<< "<include>"
<< " <name>my_model</name>"
<< " <pose relative_to='/world'>5 -2 1 0 0 0</pose>"
<< " <uri>" + MODEL_PATH +"</uri>"
<< "</include>"
<< "</world>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
// Verify correct parsing
// model
EXPECT_TRUE(sdfParsed->Root()->HasElement("world"));
sdf::ElementPtr worldElem = sdfParsed->Root()->GetElement("world");
EXPECT_TRUE(worldElem->HasElement("model"));
sdf::ElementPtr modelElem = worldElem->GetElement("model");
EXPECT_TRUE(modelElem->HasAttribute("name"));
EXPECT_EQ(modelElem->Get<std::string>("name"), "my_model");
// model pose
EXPECT_TRUE(modelElem->HasElement("pose"));
sdf::ElementPtr modelPoseElem = modelElem->GetElement("pose");
EXPECT_TRUE(modelPoseElem->HasAttribute("relative_to"));
EXPECT_EQ(modelPoseElem->Get<std::string>("relative_to"), "/world");
EXPECT_EQ(modelPoseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d(5, -2, 1, 0, 0, 0));
}
////////////////////////////////////////
// Test parsing an include element that has a pose element that may not have a
// value or a relative_to attribute
TEST(Frame, IncludeRelativeToEmptyPose)
{
const std::string MODEL_PATH =
sdf::testing::TestFile("integration", "model", "box");
std::ostringstream stream;
std::string version = SDF_VERSION;
stream
<< "<sdf version='" << version << "'>"
<< "<world name='default'>"
<< "<include>"
<< " <name>my_model</name>"
<< " <pose relative_to='/world'/>"
<< " <uri>" + MODEL_PATH +"</uri>"
<< "</include>"
<< "<include>"
<< " <name>my_model2</name>"
<< " <pose />"
<< " <uri>" + MODEL_PATH +"</uri>"
<< "</include>"
<< "</world>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
// Verify correct parsing
// model
EXPECT_TRUE(sdfParsed->Root()->HasElement("world"));
sdf::ElementPtr worldElem = sdfParsed->Root()->GetElement("world");
EXPECT_TRUE(worldElem->HasElement("model"));
sdf::ElementPtr modelElem = worldElem->GetElement("model");
EXPECT_TRUE(modelElem->HasAttribute("name"));
EXPECT_EQ(modelElem->Get<std::string>("name"), "my_model");
// model pose
{
EXPECT_TRUE(modelElem->HasElement("pose"));
sdf::ElementPtr modelPoseElem = modelElem->GetElement("pose");
EXPECT_TRUE(modelPoseElem->HasAttribute("relative_to"));
EXPECT_EQ(modelPoseElem->Get<std::string>("relative_to"), "/world");
EXPECT_EQ(modelPoseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d::Zero);
}
// Check next model
modelElem = modelElem->GetNextElement("model");
ASSERT_NE(nullptr, modelElem);
EXPECT_TRUE(modelElem->HasAttribute("name"));
EXPECT_EQ(modelElem->Get<std::string>("name"), "my_model2");
// model pose
{
EXPECT_TRUE(modelElem->HasElement("pose"));
sdf::ElementPtr modelPoseElem = modelElem->GetElement("pose");
EXPECT_TRUE(modelPoseElem->HasAttribute("relative_to"));
EXPECT_FALSE(modelPoseElem->GetAttribute("relative_to")->GetSet());
EXPECT_EQ(modelPoseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d::Zero);
}
}
/////////////////////////////////////////////////
TEST(DOMFrame, LoadModelFramesAttachedTo)
{
const std::string testFile =
sdf::testing::TestFile("sdf", "model_frame_attached_to.sdf");
// Load the SDF file
sdf::Root root;
EXPECT_TRUE(root.Load(testFile).empty());
// Get the first model
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_EQ("model_frame_attached_to", model->Name());
EXPECT_EQ(1u, model->LinkCount());
EXPECT_NE(nullptr, model->LinkByIndex(0));
EXPECT_EQ(nullptr, model->LinkByIndex(1));
EXPECT_EQ(ignition::math::Pose3d(0, 0, 0, 0, 0, 0), model->RawPose());
EXPECT_EQ("", model->PoseRelativeTo());
EXPECT_TRUE(model->LinkNameExists("L"));
EXPECT_TRUE(model->CanonicalLinkName().empty());
EXPECT_EQ(0u, model->JointCount());
EXPECT_EQ(nullptr, model->JointByIndex(0));
EXPECT_EQ(4u, model->FrameCount());
EXPECT_NE(nullptr, model->FrameByIndex(0));
EXPECT_NE(nullptr, model->FrameByIndex(1));
EXPECT_NE(nullptr, model->FrameByIndex(2));
EXPECT_NE(nullptr, model->FrameByIndex(3));
EXPECT_EQ(nullptr, model->FrameByIndex(4));
ASSERT_TRUE(model->FrameNameExists("F00"));
ASSERT_TRUE(model->FrameNameExists("F0"));
ASSERT_TRUE(model->FrameNameExists("F1"));
ASSERT_TRUE(model->FrameNameExists("F2"));
EXPECT_TRUE(model->FrameByName("F00")->AttachedTo().empty());
EXPECT_TRUE(model->FrameByName("F0")->AttachedTo().empty());
EXPECT_EQ("L", model->FrameByName("F1")->AttachedTo());
EXPECT_EQ("F1", model->FrameByName("F2")->AttachedTo());
EXPECT_TRUE(model->FrameByName("F00")->PoseRelativeTo().empty());
EXPECT_TRUE(model->FrameByName("F0")->PoseRelativeTo().empty());
EXPECT_TRUE(model->FrameByName("F1")->PoseRelativeTo().empty());
EXPECT_TRUE(model->FrameByName("F2")->PoseRelativeTo().empty());
std::string body;
EXPECT_TRUE(model->FrameByName("F00")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("L", body);
EXPECT_TRUE(model->FrameByName("F0")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("L", body);
EXPECT_TRUE(model->FrameByName("F1")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("L", body);
EXPECT_TRUE(model->FrameByName("F2")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("L", body);
}
/////////////////////////////////////////////////
TEST(DOMFrame, LoadModelFramesInvalidAttachedTo)
{
const std::string testFile =
sdf::testing::TestFile("sdf",
"model_frame_invalid_attached_to.sdf");
// Load the SDF file
sdf::Root root;
auto errors = root.Load(testFile);
for (auto e : errors)
std::cout << e << std::endl;
EXPECT_FALSE(errors.empty());
ASSERT_EQ(10u, errors.size());
EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::FRAME_ATTACHED_TO_INVALID);
EXPECT_NE(std::string::npos,
errors[0].Message().find(
"attached_to name[A] specified by frame with name[F3] does not match a "
"nested model, link, joint, or frame name in model"));
EXPECT_EQ(errors[1].Code(), sdf::ErrorCode::FRAME_ATTACHED_TO_CYCLE);
EXPECT_NE(std::string::npos,
errors[1].Message().find(
"attached_to name[F4] is identical to frame name[F4], "
"causing a graph cycle"));
// errors[2]
// errors[3]
// errors[4]
EXPECT_EQ(errors[5].Code(), sdf::ErrorCode::FRAME_ATTACHED_TO_INVALID);
EXPECT_NE(std::string::npos,
errors[5].Message().find(
"attached_to name[A] specified by frame with name[F3] does not match a "
"nested model, link, joint, or frame name in model"));
EXPECT_EQ(errors[6].Code(), sdf::ErrorCode::POSE_RELATIVE_TO_CYCLE);
EXPECT_NE(std::string::npos,
errors[6].Message().find(
"relative_to name[F4] is identical to frame name[F4], "
"causing a graph cycle"));
// errors[7]
// errors[8]
EXPECT_EQ(errors[9].Code(), sdf::ErrorCode::POSE_RELATIVE_TO_CYCLE);
EXPECT_NE(std::string::npos,
errors[9].Message().find(
"PoseRelativeToGraph cycle detected, "
"already visited vertex [model_frame_invalid_attached_to::F4]"));
// Try loading sdf::Model object
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readFile(testFile, sdfParsed));
auto rootElem = sdfParsed->Root();
ASSERT_NE(nullptr, rootElem);
ASSERT_TRUE(rootElem->HasElement("model"));
auto modelElem = rootElem->GetElement("model");
ASSERT_NE(nullptr, modelElem);
// there are no errors when loading an sdf::Model directly since it doesn't
// build graphs
sdf::Model model;
auto modelLoadErrors = model.Load(modelElem);
EXPECT_EQ(0u, modelLoadErrors.size()) << modelLoadErrors;
errors = model.ValidateGraphs();
ASSERT_EQ(2u, errors.size()) << errors;
EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::FRAME_ATTACHED_TO_GRAPH_ERROR);
EXPECT_NE(std::string::npos,
errors[0].Message().find(
"FrameAttachedToGraph error: scope does not point to a valid graph"));
EXPECT_EQ(errors[1].Code(), sdf::ErrorCode::POSE_RELATIVE_TO_GRAPH_ERROR);
EXPECT_NE(std::string::npos,
errors[1].Message().find(
"PoseRelativeToGraph error: scope does not point to a valid graph"));
}
/////////////////////////////////////////////////
TEST(DOMFrame, LoadModelFramesAttachedToJoint)
{
const std::string testFile =
sdf::testing::TestFile("sdf",
"model_frame_attached_to_joint.sdf");
// Load the SDF file
sdf::Root root;
EXPECT_TRUE(root.Load(testFile).empty());
// Get the first model
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_EQ("model_frame_attached_to_joint", model->Name());
EXPECT_EQ(2u, model->LinkCount());
EXPECT_NE(nullptr, model->LinkByIndex(0));
EXPECT_NE(nullptr, model->LinkByIndex(1));
EXPECT_EQ(nullptr, model->LinkByIndex(2));
EXPECT_EQ(ignition::math::Pose3d(0, 0, 0, 0, 0, 0), model->RawPose());
EXPECT_EQ("", model->PoseRelativeTo());
EXPECT_TRUE(model->LinkNameExists("P"));
EXPECT_TRUE(model->LinkNameExists("C"));
EXPECT_TRUE(model->CanonicalLinkName().empty());
EXPECT_EQ(1u, model->JointCount());
EXPECT_NE(nullptr, model->JointByIndex(0));
EXPECT_EQ(nullptr, model->JointByIndex(1));
EXPECT_TRUE(model->JointNameExists("J"));
EXPECT_EQ(4u, model->FrameCount());
EXPECT_NE(nullptr, model->FrameByIndex(0));
EXPECT_NE(nullptr, model->FrameByIndex(1));
EXPECT_NE(nullptr, model->FrameByIndex(2));
EXPECT_NE(nullptr, model->FrameByIndex(3));
EXPECT_EQ(nullptr, model->FrameByIndex(4));
ASSERT_TRUE(model->FrameNameExists("F1"));
ASSERT_TRUE(model->FrameNameExists("F2"));
ASSERT_TRUE(model->FrameNameExists("F3"));
ASSERT_TRUE(model->FrameNameExists("F4"));
EXPECT_EQ("P", model->FrameByName("F1")->AttachedTo());
EXPECT_EQ("C", model->FrameByName("F2")->AttachedTo());
EXPECT_EQ("J", model->FrameByName("F3")->AttachedTo());
EXPECT_EQ("F3", model->FrameByName("F4")->AttachedTo());
EXPECT_TRUE(model->FrameByName("F1")->PoseRelativeTo().empty());
EXPECT_TRUE(model->FrameByName("F2")->PoseRelativeTo().empty());
EXPECT_TRUE(model->FrameByName("F3")->PoseRelativeTo().empty());
EXPECT_TRUE(model->FrameByName("F4")->PoseRelativeTo().empty());
std::string body;
EXPECT_TRUE(model->FrameByName("F1")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("P", body);
EXPECT_TRUE(model->FrameByName("F2")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("C", body);
EXPECT_TRUE(model->FrameByName("F3")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("C", body);
EXPECT_TRUE(model->FrameByName("F4")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("C", body);
}
/////////////////////////////////////////////////
TEST(DOMFrame, LoadModelFramesAttachedToNestedModel)
{
const std::string testFile =
sdf::testing::TestFile("sdf",
"model_frame_attached_to_nested_model.sdf");
// Load the SDF file
sdf::Root root;
sdf::Errors errors = root.Load(testFile);
EXPECT_TRUE(errors.empty()) << errors;
// Get the first model
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_EQ("model_frame_attached_to_nested_model", model->Name());
EXPECT_EQ(1u, model->LinkCount());
EXPECT_NE(nullptr, model->LinkByIndex(0));
EXPECT_EQ(nullptr, model->LinkByIndex(1));
EXPECT_TRUE(model->LinkNameExists("link"));
EXPECT_TRUE(model->CanonicalLinkName().empty());
EXPECT_EQ(0u, model->JointCount());
EXPECT_EQ(nullptr, model->JointByIndex(0));
EXPECT_EQ(1u, model->ModelCount());
EXPECT_NE(nullptr, model->ModelByIndex(0));
EXPECT_EQ(nullptr, model->ModelByIndex(1));
EXPECT_TRUE(model->ModelNameExists("nested_model"));
EXPECT_EQ(2u, model->FrameCount());
EXPECT_NE(nullptr, model->FrameByIndex(0));
EXPECT_NE(nullptr, model->FrameByIndex(1));
EXPECT_EQ(nullptr, model->FrameByIndex(2));
ASSERT_TRUE(model->FrameNameExists("F1"));
ASSERT_TRUE(model->FrameNameExists("F2"));
EXPECT_EQ("nested_model", model->FrameByName("F1")->AttachedTo());
EXPECT_EQ("F1", model->FrameByName("F2")->AttachedTo());
std::string body;
EXPECT_TRUE(model->FrameByName("F1")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("nested_model::nested_link", body);
EXPECT_TRUE(model->FrameByName("F2")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("nested_model::nested_link", body);
}
/////////////////////////////////////////////////
TEST(DOMFrame, LoadWorldFramesAttachedTo)
{
const std::string testFile =
sdf::testing::TestFile("sdf",
"world_frame_attached_to.sdf");
// Load the SDF file
sdf::Root root;
EXPECT_TRUE(root.Load(testFile).empty());
// Get the first world
const sdf::World *world = root.WorldByIndex(0);
ASSERT_NE(nullptr, world);
EXPECT_EQ("world_frame_attached_to", world->Name());
EXPECT_EQ(1u, world->ModelCount());
EXPECT_NE(nullptr, world->ModelByIndex(0));
EXPECT_EQ(nullptr, world->ModelByIndex(1));
EXPECT_TRUE(world->ModelNameExists("M1"));
const sdf::Model *model = world->ModelByIndex(0);
ASSERT_NE(nullptr, model);
EXPECT_EQ("M1", model->Name());
EXPECT_EQ(1u, model->LinkCount());
EXPECT_NE(nullptr, model->LinkByIndex(0));
EXPECT_EQ(nullptr, model->LinkByIndex(1));
EXPECT_EQ(1u, model->FrameCount());
EXPECT_NE(nullptr, model->FrameByIndex(0));
EXPECT_EQ(nullptr, model->FrameByIndex(1));
ASSERT_TRUE(model->LinkNameExists("L"));
ASSERT_TRUE(model->FrameNameExists("F0"));
EXPECT_EQ("L", model->FrameByName("F0")->AttachedTo());
EXPECT_EQ(4u, world->FrameCount());
EXPECT_NE(nullptr, world->FrameByIndex(0));
EXPECT_NE(nullptr, world->FrameByIndex(1));
EXPECT_NE(nullptr, world->FrameByIndex(2));
EXPECT_NE(nullptr, world->FrameByIndex(3));
EXPECT_EQ(nullptr, world->FrameByIndex(4));
ASSERT_TRUE(world->FrameNameExists("world_frame"));
ASSERT_TRUE(world->FrameNameExists("F0"));
ASSERT_TRUE(world->FrameNameExists("F1"));
ASSERT_TRUE(world->FrameNameExists("F2"));
EXPECT_TRUE(world->FrameByName("world_frame")->AttachedTo().empty());
EXPECT_TRUE(world->FrameByName("F0")->AttachedTo().empty());
EXPECT_EQ("F0", world->FrameByName("F1")->AttachedTo());
EXPECT_EQ("M1", world->FrameByName("F2")->AttachedTo());
EXPECT_TRUE(world->FrameByName("world_frame")->PoseRelativeTo().empty());
EXPECT_TRUE(world->FrameByName("F0")->PoseRelativeTo().empty());
EXPECT_TRUE(world->FrameByName("F1")->PoseRelativeTo().empty());
EXPECT_TRUE(world->FrameByName("F2")->PoseRelativeTo().empty());
std::string body;
EXPECT_TRUE(
world->FrameByName("world_frame")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("world", body);
EXPECT_TRUE(world->FrameByName("F0")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("world", body);
EXPECT_TRUE(world->FrameByName("F1")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("world", body);
EXPECT_TRUE(world->FrameByName("F2")->ResolveAttachedToBody(body).empty());
EXPECT_EQ("M1::L", body);
}
/////////////////////////////////////////////////
TEST(DOMFrame, LoadWorldFramesInvalidAttachedTo)
{
const std::string testFile =
sdf::testing::TestFile("sdf",
"world_frame_invalid_attached_to.sdf");
// Load the SDF file
sdf::Root root;
auto errors = root.Load(testFile);
for (auto e : errors)
std::cout << e << std::endl;
EXPECT_FALSE(errors.empty());
ASSERT_EQ(11u, errors.size());
EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::FRAME_ATTACHED_TO_INVALID);
EXPECT_NE(std::string::npos,
errors[0].Message().find(
"attached_to name[A] specified by frame with name[F] does not match a "
"model or frame name in world"));
EXPECT_EQ(errors[1].Code(), sdf::ErrorCode::FRAME_ATTACHED_TO_CYCLE);
EXPECT_NE(std::string::npos,
errors[1].Message().find(
"attached_to name[self_cycle] is identical to frame name[self_cycle], "
"causing a graph cycle"));
// errors[2]
// errors[3]
// errors[4]
EXPECT_EQ(errors[5].Code(), sdf::ErrorCode::FRAME_ATTACHED_TO_INVALID);
EXPECT_NE(std::string::npos,
errors[5].Message().find(
"attached_to name[A] specified by frame with name[F] does not match a "
"model or frame name in world"));
EXPECT_EQ(errors[6].Code(), sdf::ErrorCode::POSE_RELATIVE_TO_CYCLE);
EXPECT_NE(std::string::npos,
errors[6].Message().find(
"relative_to name[self_cycle] is identical to frame name[self_cycle], "
"causing a graph cycle"));
// errors[7]
// errors[8]
EXPECT_EQ(errors[9].Code(), sdf::ErrorCode::POSE_RELATIVE_TO_CYCLE);
EXPECT_NE(std::string::npos,
errors[9].Message().find(
"PoseRelativeToGraph cycle detected, "
"already visited vertex [self_cycle]"));
EXPECT_EQ(errors[10].Code(), sdf::ErrorCode::ELEMENT_INVALID);
EXPECT_NE(std::string::npos,
errors[10].Message().find(
"Failed to load a world"));
// Try loading sdf::World object
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readFile(testFile, sdfParsed));
auto rootElem = sdfParsed->Root();
ASSERT_NE(nullptr, rootElem);
ASSERT_TRUE(rootElem->HasElement("world"));
auto worldElem = rootElem->GetElement("world");
ASSERT_NE(nullptr, worldElem);
// there are no errors when loading an sdf::World directly since it doesn't
// build graphs
sdf::World world;
auto worldLoadErrors = world.Load(worldElem);
EXPECT_EQ(0u, worldLoadErrors.size()) << worldLoadErrors;
errors = world.ValidateGraphs();
ASSERT_EQ(2u, errors.size()) << errors;
EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::FRAME_ATTACHED_TO_GRAPH_ERROR);
EXPECT_NE(std::string::npos,
errors[0].Message().find(
"FrameAttachedToGraph error: scope does not point to a valid graph"));
EXPECT_EQ(errors[1].Code(), sdf::ErrorCode::POSE_RELATIVE_TO_GRAPH_ERROR);
EXPECT_NE(std::string::npos,
errors[1].Message().find(
"PoseRelativeToGraph error: scope does not point to a valid graph"));
}
/////////////////////////////////////////////////
TEST(DOMFrame, LoadModelFramesRelativeTo)
{
const std::string testFile =
sdf::testing::TestFile("sdf",
"model_frame_relative_to.sdf");
// Load the SDF file
sdf::Root root;
EXPECT_TRUE(root.Load(testFile).empty());
using Pose = ignition::math::Pose3d;
// Get the first model
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_EQ("model_frame_relative_to", model->Name());
EXPECT_EQ(1u, model->LinkCount());
EXPECT_NE(nullptr, model->LinkByIndex(0));
EXPECT_EQ(nullptr, model->LinkByIndex(1));
EXPECT_EQ(Pose(0, 0, 0, 0, 0, 0), model->RawPose());
EXPECT_EQ("", model->PoseRelativeTo());
EXPECT_TRUE(model->LinkNameExists("L"));
EXPECT_TRUE(model->CanonicalLinkName().empty());
EXPECT_EQ(0u, model->JointCount());
EXPECT_EQ(nullptr, model->JointByIndex(0));
EXPECT_EQ(5u, model->FrameCount());
EXPECT_NE(nullptr, model->FrameByIndex(0));
EXPECT_NE(nullptr, model->FrameByIndex(1));
EXPECT_NE(nullptr, model->FrameByIndex(2));
EXPECT_NE(nullptr, model->FrameByIndex(3));
EXPECT_NE(nullptr, model->FrameByIndex(4));
EXPECT_EQ(nullptr, model->FrameByIndex(5));
ASSERT_TRUE(model->FrameNameExists("F0"));
ASSERT_TRUE(model->FrameNameExists("F1"));
ASSERT_TRUE(model->FrameNameExists("F2"));
ASSERT_TRUE(model->FrameNameExists("F3"));
ASSERT_TRUE(model->FrameNameExists("F4"));
EXPECT_TRUE(model->FrameByName("F0")->AttachedTo().empty());
EXPECT_EQ("L", model->FrameByName("F1")->AttachedTo());
EXPECT_EQ("L", model->FrameByName("F2")->AttachedTo());
EXPECT_TRUE(model->FrameByName("F3")->AttachedTo().empty());
EXPECT_TRUE(model->FrameByName("F4")->AttachedTo().empty());
EXPECT_TRUE(model->FrameByName("F0")->PoseRelativeTo().empty());
EXPECT_TRUE(model->FrameByName("F1")->PoseRelativeTo().empty());
EXPECT_TRUE(model->FrameByName("F2")->PoseRelativeTo().empty());
EXPECT_EQ("L", model->FrameByName("F3")->PoseRelativeTo());
EXPECT_EQ("F3", model->FrameByName("F4")->PoseRelativeTo());
EXPECT_EQ(Pose(0, 1, 0, 0, 0, 0), model->FrameByName("F0")->RawPose());
EXPECT_EQ(Pose(0, 0, 1, 0, 0, 0), model->FrameByName("F1")->RawPose());
EXPECT_EQ(Pose(0, 0, 2, 0, 0, 0), model->FrameByName("F2")->RawPose());
EXPECT_EQ(Pose(0, 0, 3, 0, 0, 0), model->FrameByName("F3")->RawPose());
EXPECT_EQ(Pose::Zero, model->FrameByName("F4")->RawPose());
Pose pose;
// Test resolvePose for each frame with its relative_to value.
// Numbers should match the raw pose value in the model file.
EXPECT_TRUE(
model->FrameByName("F0")->
SemanticPose().Resolve(pose, "__model__").empty());
EXPECT_EQ(Pose(0, 1, 0, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F0")->
SemanticPose().Resolve(pose).empty());
EXPECT_EQ(Pose(0, 1, 0, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F1")->
SemanticPose().Resolve(pose, "L").empty());
EXPECT_EQ(Pose(0, 0, 1, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F2")->
SemanticPose().Resolve(pose, "L").empty());
EXPECT_EQ(Pose(0, 0, 2, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F3")->
SemanticPose().Resolve(pose, "L").empty());
EXPECT_EQ(Pose(0, 0, 3, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F4")->
SemanticPose().Resolve(pose, "F3").empty());
EXPECT_EQ(Pose::Zero, pose);
//// Test ResolvePose for each Frame relative to the model frame.
EXPECT_TRUE(
model->FrameByName("F0")->
SemanticPose().Resolve(pose, "__model__").empty());
EXPECT_EQ(Pose(0, 1, 0, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F0")->
SemanticPose().Resolve(pose).empty());
EXPECT_EQ(Pose(0, 1, 0, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F1")->
SemanticPose().Resolve(pose, "__model__").empty());
EXPECT_EQ(Pose(1, 0, 1, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F1")->
SemanticPose().Resolve(pose).empty());
EXPECT_EQ(Pose(1, 0, 1, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F2")->
SemanticPose().Resolve(pose, "__model__").empty());
EXPECT_EQ(Pose(1, 0, 2, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F2")->
SemanticPose().Resolve(pose).empty());
EXPECT_EQ(Pose(1, 0, 2, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F3")->
SemanticPose().Resolve(pose, "__model__").empty());
EXPECT_EQ(Pose(1, 0, 3, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F3")->
SemanticPose().Resolve(pose).empty());
EXPECT_EQ(Pose(1, 0, 3, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F4")->
SemanticPose().Resolve(pose, "__model__").empty());
EXPECT_EQ(Pose(1, 0, 3, 0, 0, 0), pose);
EXPECT_TRUE(
model->FrameByName("F4")->
SemanticPose().Resolve(pose).empty());
EXPECT_EQ(Pose(1, 0, 3, 0, 0, 0), pose);
}
/////////////////////////////////////////////////
TEST(DOMFrame, LoadModelFramesInvalidRelativeTo)
{
const std::string testFile =
sdf::testing::TestFile("sdf",
"model_invalid_frame_relative_to.sdf");
// Load the SDF file
sdf::Root root;
auto errors = root.Load(testFile);
for (auto e : errors)
std::cout << e << std::endl;
EXPECT_FALSE(errors.empty());
EXPECT_EQ(5u, errors.size());
EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::POSE_RELATIVE_TO_INVALID);
EXPECT_NE(std::string::npos,
errors[0].Message().find(
"relative_to name[A] specified by frame with name[F] does not match a "
"nested model, link, joint, or frame name in model"));
EXPECT_EQ(errors[1].Code(), sdf::ErrorCode::POSE_RELATIVE_TO_CYCLE);
EXPECT_NE(std::string::npos,
errors[1].Message().find(
"relative_to name[cycle] is identical to frame name[cycle], "
"causing a graph cycle"));
// errors[2]
// errors[3]
}
/////////////////////////////////////////////////
TEST(DOMFrame, LoadModelFramesRelativeToJoint)
{
const std::string testFile =
sdf::testing::TestFile("sdf",
"model_frame_relative_to_joint.sdf");
// Load the SDF file
sdf::Root root;
EXPECT_TRUE(root.Load(testFile).empty());
using Pose = ignition::math::Pose3d;
// Get the first model
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_EQ("model_frame_relative_to_joint", model->Name());
EXPECT_EQ(2u, model->LinkCount());
EXPECT_NE(nullptr, model->LinkByIndex(0));
EXPECT_NE(nullptr, model->LinkByIndex(1));
EXPECT_EQ(nullptr, model->LinkByIndex(2));
EXPECT_EQ(Pose(0, 0, 0, 0, 0, 0), model->RawPose());
EXPECT_EQ("", model->PoseRelativeTo());
ASSERT_TRUE(model->LinkNameExists("P"));
ASSERT_TRUE(model->LinkNameExists("C"));