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nested_model.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 <fstream>
#include <string>
#include <gtest/gtest.h>
#include <ignition/math/Pose3.hh>
#include <ignition/math/Vector3.hh>
#include "sdf/sdf.hh"
#include "test_config.h"
////////////////////////////////////////
// Test parsing nested model with joint
TEST(NestedModel, NestedModel)
{
std::ostringstream stream;
std::string version = "1.5";
stream
<< "<sdf version='" << version << "'>"
<< "<model name='top_level_model'>"
<< " <link name='parent'/>"
<< " <link name='child'/>"
<< " <model name='nested_model'>"
<< " <link name='nested_link01'/>"
<< " </model>"
<< " <joint name='top_level_joint' type='revolute'>"
<< " <parent>parent</parent>"
<< " <child>child</child>"
<< " <axis>"
<< " <xyz>1 0 0</xyz>"
<< " </axis>"
<< " </joint>"
<< "</model>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
// Verify correct parsing
// top level 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"), "top_level_model");
// top level links
EXPECT_TRUE(modelElem->HasElement("link"));
sdf::ElementPtr linklElem = modelElem->GetElement("link");
EXPECT_TRUE(linklElem->HasAttribute("name"));
EXPECT_EQ(linklElem->Get<std::string>("name"), "parent");
linklElem = linklElem->GetNextElement("link");
EXPECT_TRUE(linklElem != nullptr);
EXPECT_TRUE(linklElem->HasAttribute("name"));
EXPECT_EQ(linklElem->Get<std::string>("name"), "child");
// nested model
EXPECT_TRUE(modelElem->HasElement("model"));
sdf::ElementPtr nestedModelElem = modelElem->GetElement("model");
// nested model link
EXPECT_TRUE(nestedModelElem->HasElement("link"));
sdf::ElementPtr nestedLinkElem = nestedModelElem->GetElement("link");
EXPECT_TRUE(nestedLinkElem->HasAttribute("name"));
EXPECT_EQ(nestedLinkElem->Get<std::string>("name"), "nested_link01");
// top level model joint
EXPECT_TRUE(modelElem->HasElement("joint"));
sdf::ElementPtr jointElem = modelElem->GetElement("joint");
EXPECT_TRUE(jointElem->HasAttribute("name"));
EXPECT_EQ(jointElem->Get<std::string>("name"), "top_level_joint");
EXPECT_TRUE(jointElem->HasAttribute("type"));
EXPECT_EQ(jointElem->Get<std::string>("type"), "revolute");
// joint links
EXPECT_TRUE(jointElem->HasElement("parent"));
EXPECT_EQ(jointElem->Get<std::string>("parent"), "parent");
EXPECT_TRUE(jointElem->HasElement("child"));
EXPECT_EQ(jointElem->Get<std::string>("child"), "child");
// joint axis
EXPECT_TRUE(jointElem->HasElement("axis"));
sdf::ElementPtr axisElem = jointElem->GetElement("axis");
EXPECT_TRUE(axisElem->HasElement("xyz"));
EXPECT_EQ(axisElem->Get<ignition::math::Vector3d>("xyz"),
ignition::math::Vector3d(1, 0, 0));
}
////////////////////////////////////////
// Test parsing nested model states
TEST(NestedModel, State)
{
std::ostringstream sdfStr;
sdfStr << "<sdf version ='" << SDF_VERSION << "'>"
<< "<world name='default'>"
<< "<state world_name='default'>"
<< "<model name='model_00'>"
<< " <pose>0 0 0.5 0 0 0</pose>"
<< " <link name='link_00'>"
<< " <pose>0 0 0.5 0 0 0</pose>"
<< " <velocity>0.001 0 0 0 0 0</velocity>"
<< " <acceleration>0 0.006121 0 0.012288 0 0.001751</acceleration>"
<< " <wrench>0 0.006121 0 0 0 0</wrench>"
<< " </link>"
<< " <model name='model_01'>"
<< " <pose>1 0 0.5 0 0 0</pose>"
<< " <link name='link_01'>"
<< " <pose>1.25 0 0.5 0 0 0</pose>"
<< " <velocity>0 -0.001 0 0 0 0</velocity>"
<< " <acceleration>0 0.000674 0 -0.001268 0 0</acceleration>"
<< " <wrench>0 0.000674 0 0 0 0</wrench>"
<< " </link>"
<< " <model name='model_02'>"
<< " <pose>1 1 0.5 0 0 0</pose>"
<< " <link name='link_02'>"
<< " <pose>1.25 1 0.5 0 0 0</pose>"
<< " <velocity>0 0 0.001 0 0 0</velocity>"
<< " <acceleration>0 0 0 0 0 0</acceleration>"
<< " <wrench>0 0 0 0 0 0</wrench>"
<< " </link>"
<< " </model>"
<< " </model>"
<< "</model>"
<< "</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 sdf
EXPECT_TRUE(modelStateElem->HasAttribute("name"));
EXPECT_EQ(modelStateElem->Get<std::string>("name"), "model_00");
EXPECT_TRUE(modelStateElem->HasElement("pose"));
EXPECT_EQ(modelStateElem->Get<ignition::math::Pose3d>("pose"),
ignition::math::Pose3d(0, 0, 0.5, 0, 0, 0));
EXPECT_TRUE(!modelStateElem->HasElement("joint"));
// link sdf
EXPECT_TRUE(modelStateElem->HasElement("link"));
sdf::ElementPtr linkStateElem = modelStateElem->GetElement("link");
EXPECT_TRUE(linkStateElem->HasAttribute("name"));
EXPECT_EQ(linkStateElem->Get<std::string>("name"), "link_00");
EXPECT_TRUE(linkStateElem->HasElement("pose"));
EXPECT_EQ(linkStateElem->Get<ignition::math::Pose3d>("pose"),
ignition::math::Pose3d(0, 0, 0.5, 0, 0, 0));
EXPECT_TRUE(linkStateElem->HasElement("velocity"));
EXPECT_EQ(linkStateElem->Get<ignition::math::Pose3d>("velocity"),
ignition::math::Pose3d(0.001, 0, 0, 0, 0, 0));
EXPECT_TRUE(linkStateElem->HasElement("acceleration"));
EXPECT_EQ(linkStateElem->Get<ignition::math::Pose3d>("acceleration"),
ignition::math::Pose3d(0, 0.006121, 0, 0.012288, 0, 0.001751));
EXPECT_TRUE(linkStateElem->HasElement("wrench"));
EXPECT_EQ(linkStateElem->Get<ignition::math::Pose3d>("wrench"),
ignition::math::Pose3d(0, 0.006121, 0, 0, 0, 0));
// nested model sdf
EXPECT_TRUE(modelStateElem->HasElement("model"));
sdf::ElementPtr nestedModelStateElem =
modelStateElem->GetElement("model");
EXPECT_TRUE(nestedModelStateElem->HasAttribute("name"));
EXPECT_EQ(nestedModelStateElem->Get<std::string>("name"), "model_01");
EXPECT_TRUE(nestedModelStateElem->HasElement("pose"));
EXPECT_EQ(nestedModelStateElem->Get<ignition::math::Pose3d>("pose"),
ignition::math::Pose3d(1, 0, 0.5, 0, 0, 0));
EXPECT_TRUE(!nestedModelStateElem->HasElement("joint"));
// nested model's link sdf
EXPECT_TRUE(nestedModelStateElem->HasElement("link"));
sdf::ElementPtr nestedLinkStateElem =
nestedModelStateElem->GetElement("link");
EXPECT_TRUE(nestedLinkStateElem->HasAttribute("name"));
EXPECT_EQ(nestedLinkStateElem->Get<std::string>("name"), "link_01");
EXPECT_TRUE(nestedLinkStateElem->HasElement("pose"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("pose"),
ignition::math::Pose3d(1.25, 0, 0.5, 0, 0, 0));
EXPECT_TRUE(nestedLinkStateElem->HasElement("velocity"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("velocity"),
ignition::math::Pose3d(0, -0.001, 0, 0, 0, 0));
EXPECT_TRUE(nestedLinkStateElem->HasElement("acceleration"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("acceleration"),
ignition::math::Pose3d(0, 0.000674, 0, -0.001268, 0, 0));
EXPECT_TRUE(nestedLinkStateElem->HasElement("wrench"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("wrench"),
ignition::math::Pose3d(0, 0.000674, 0, 0, 0, 0));
// double nested model sdf
EXPECT_TRUE(nestedModelStateElem->HasElement("model"));
nestedModelStateElem = nestedModelStateElem->GetElement("model");
EXPECT_TRUE(nestedModelStateElem->HasAttribute("name"));
EXPECT_EQ(nestedModelStateElem->Get<std::string>("name"), "model_02");
EXPECT_TRUE(nestedModelStateElem->HasElement("pose"));
EXPECT_EQ(nestedModelStateElem->Get<ignition::math::Pose3d>("pose"),
ignition::math::Pose3d(1, 1, 0.5, 0, 0, 0));
EXPECT_TRUE(!nestedModelStateElem->HasElement("joint"));
// double nested model's link sdf
EXPECT_TRUE(nestedModelStateElem->HasElement("link"));
nestedLinkStateElem = nestedModelStateElem->GetElement("link");
EXPECT_TRUE(nestedLinkStateElem->HasAttribute("name"));
EXPECT_EQ(nestedLinkStateElem->Get<std::string>("name"), "link_02");
EXPECT_TRUE(nestedLinkStateElem->HasElement("pose"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("pose"),
ignition::math::Pose3d(1.25, 1, 0.5, 0, 0, 0));
EXPECT_TRUE(nestedLinkStateElem->HasElement("velocity"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("velocity"),
ignition::math::Pose3d(0, 0, 0.001, 0, 0, 0));
EXPECT_TRUE(nestedLinkStateElem->HasElement("acceleration"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("acceleration"),
ignition::math::Pose3d(0, 0, 0, 0, 0, 0));
EXPECT_TRUE(nestedLinkStateElem->HasElement("wrench"));
EXPECT_EQ(nestedLinkStateElem->Get<ignition::math::Pose3d>("wrench"),
ignition::math::Pose3d(0, 0, 0, 0, 0, 0));
}
////////////////////////////////////////
// Test parsing models with joints nested via <include>
// Confirm that joint axis rotation is handled differently for 1.4 and 1.5+
TEST(NestedModel, NestedInclude)
{
const std::string name = "double_pendulum_kinematics";
const std::string MODEL_PATH = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/model/" + name;
// this uses two models from the test/integration/model folder that are
// identical except for the //sdf/@version attribute
// * version 1.5: double_pendulum_with_base
// * version 1.4: double_pendulum_with_base_14
//
// 1. double_pendulum_with_base is included directly into the world
// with the following pose
const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, IGN_PI/2);
// 2. it's also included into the model named "include_with_rotation"
// with the following pose
const ignition::math::Pose3d model2Pose(-10, 0, 0, 0, 0, IGN_PI/2);
// 3. double_pendulum_with_base_14 is included into
// the model named "include_with_rotation_1.4" with the following pose
const ignition::math::Pose3d model3Pose(0, 10, 0, 0, 0, IGN_PI/2);
std::ostringstream stream;
std::string version = "1.5";
stream
<< "<sdf version='" << version << "'>"
<< "<world name='default'>"
<< " <include>"
<< " <uri>" + MODEL_PATH + "</uri>"
<< " <pose>" << model1Pose << "</pose>"
<< " </include>"
<< " <model name='include_with_rotation'>"
<< " <include>"
<< " <uri>" + MODEL_PATH + "</uri>"
<< " <pose>" << model2Pose << "</pose>"
<< " </include>"
<< " </model>"
<< " <model name='include_with_rotation_1.4'>"
<< " <include>"
<< " <uri>" + MODEL_PATH + "_14</uri>"
<< " <pose>" << model3Pose << "</pose>"
<< " </include>"
<< " </model>"
<< "</world>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
sdf::Root root;
sdf::Errors errors = root.Load(sdfParsed);
EXPECT_TRUE(errors.empty());
const sdf::World *world = root.WorldByIndex(0);
ASSERT_NE(nullptr, world);
EXPECT_EQ(version, world->Element()->OriginalVersion());
const sdf::Model *model1 = world->ModelByName(name);
const sdf::Model *model2 = world->ModelByName("include_with_rotation");
const sdf::Model *model3 = world->ModelByName("include_with_rotation_1.4");
ASSERT_NE(nullptr, model1);
ASSERT_NE(nullptr, model2);
ASSERT_NE(nullptr, model3);
// model1Pose is used at //model[0]/pose
// but model2Pose and model3Pose are applied to the link poses, so those
// //model/pose values should be identity
EXPECT_EQ(model1Pose, model1->RawPose());
EXPECT_EQ(ignition::math::Pose3d::Zero, model2->RawPose());
EXPECT_EQ(ignition::math::Pose3d::Zero, model3->RawPose());
// expect empty //pose/@relative_to
EXPECT_TRUE(model1->PoseRelativeTo().empty());
EXPECT_TRUE(model2->PoseRelativeTo().empty());
EXPECT_TRUE(model3->PoseRelativeTo().empty());
// each model has 3 links, and the link names of the nested models have
// been transformed
EXPECT_EQ(3u, model1->LinkCount());
// TODO (addisu): Update the following two xpectations to account for the fact
// that included models are no longer flattened.
// EXPECT_EQ(3u, model2->LinkCount());
// EXPECT_EQ(3u, model3->LinkCount());
const sdf::Link *baseLink1 = model1->LinkByName("base");
const sdf::Link *baseLink2 = model2->LinkByName(name + "::base");
const sdf::Link *baseLink3 = model3->LinkByName(name + "_14::base");
ASSERT_NE(nullptr, baseLink1);
ASSERT_NE(nullptr, baseLink2);
ASSERT_NE(nullptr, baseLink3);
const sdf::Link *lowerLink1 = model1->LinkByName("lower_link");
const sdf::Link *lowerLink2 = model2->LinkByName(name + "::lower_link");
const sdf::Link *lowerLink3 = model3->LinkByName(name + "_14::lower_link");
ASSERT_NE(nullptr, lowerLink1);
ASSERT_NE(nullptr, lowerLink2);
ASSERT_NE(nullptr, lowerLink3);
const sdf::Link *upperLink1 = model1->LinkByName("upper_link");
const sdf::Link *upperLink2 = model2->LinkByName(name + "::upper_link");
const sdf::Link *upperLink3 = model3->LinkByName(name + "_14::upper_link");
ASSERT_NE(nullptr, upperLink1);
ASSERT_NE(nullptr, upperLink2);
ASSERT_NE(nullptr, upperLink3);
// expect link poses from model2 and model3 to match raw link poses
// from model1.
EXPECT_EQ(baseLink2->RawPose(), baseLink1->RawPose());
EXPECT_EQ(baseLink3->RawPose(), baseLink1->RawPose());
EXPECT_EQ(lowerLink2->RawPose(), lowerLink1->RawPose());
EXPECT_EQ(lowerLink3->RawPose(), lowerLink1->RawPose());
EXPECT_EQ(upperLink2->RawPose(), upperLink1->RawPose());
EXPECT_EQ(upperLink3->RawPose(), upperLink1->RawPose());
// each model has 2 joints, and the joint names of the nested models have
// been transformed
EXPECT_EQ(2u, model1->JointCount());
// TODO (addisu): Update the following two xpectations to account for the fact
// that included models are no longer flattened.
// EXPECT_EQ(2u, model2->JointCount());
// EXPECT_EQ(2u, model3->JointCount());
auto *lowerJoint1 = model1->JointByName("lower_joint");
auto *lowerJoint2 = model2->JointByName(name + "::lower_joint");
auto *lowerJoint3 = model3->JointByName(name + "_14::lower_joint");
ASSERT_NE(nullptr, lowerJoint1);
ASSERT_NE(nullptr, lowerJoint2);
ASSERT_NE(nullptr, lowerJoint3);
auto *upperJoint1 = model1->JointByName("upper_joint");
auto *upperJoint2 = model2->JointByName(name + "::upper_joint");
auto *upperJoint3 = model3->JointByName(name + "_14::upper_joint");
ASSERT_NE(nullptr, upperJoint1);
ASSERT_NE(nullptr, upperJoint2);
ASSERT_NE(nullptr, upperJoint3);
const sdf::JointAxis *lowerAxis1 = lowerJoint1->Axis(0);
const sdf::JointAxis *lowerAxis2 = lowerJoint2->Axis(0);
const sdf::JointAxis *lowerAxis3 = lowerJoint3->Axis(0);
ASSERT_NE(nullptr, lowerAxis1);
ASSERT_NE(nullptr, lowerAxis2);
ASSERT_NE(nullptr, lowerAxis3);
const sdf::JointAxis *upperAxis1 = upperJoint1->Axis(0);
const sdf::JointAxis *upperAxis2 = upperJoint2->Axis(0);
const sdf::JointAxis *upperAxis3 = upperJoint3->Axis(0);
ASSERT_NE(nullptr, upperAxis1);
ASSERT_NE(nullptr, upperAxis2);
ASSERT_NE(nullptr, upperAxis3);
// expect //axis/xyz to be unchanged for model1 and model2
EXPECT_EQ(ignition::math::Vector3d::UnitX, lowerAxis1->Xyz());
EXPECT_EQ(ignition::math::Vector3d::UnitX, upperAxis1->Xyz());
EXPECT_EQ(ignition::math::Vector3d::UnitX, lowerAxis2->Xyz());
EXPECT_EQ(ignition::math::Vector3d::UnitX, upperAxis2->Xyz());
// For model3, expect //axis/xyz to use the nested model frame in
// //axis/xyz/@expressed_in since it came from SDFormat 1.4, which implies
// //axis/xyz/@expressed_in == "__model__" inside the nested model
EXPECT_EQ(ignition::math::Vector3d::UnitX, lowerAxis3->Xyz());
EXPECT_EQ(ignition::math::Vector3d::UnitX, upperAxis3->Xyz());
}
//////////////////////////////////////////////////
// Test parsing models with child models containg frames nested via <include>
TEST(NestedModel, NestedModelWithFrames)
{
const std::string name = "test_model_with_frames";
const std::string modelPath = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/model/" + name;
const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, IGN_PI/2);
std::ostringstream stream;
std::string version = "1.7";
stream
<< "<sdf version='" << version << "'>"
<< "<world name='default'>"
<< " <model name='ParentModel'>"
<< " <include>"
<< " <uri>" + modelPath + "</uri>"
<< " <name>M1</name>"
<< " <pose>" << model1Pose << "</pose>"
<< " </include>"
<< " </model>"
<< "</world>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
sdf::Root root;
sdf::Errors errors = root.Load(sdfParsed);
for (auto e : errors)
std::cout << e.Message() << std::endl;
EXPECT_TRUE(errors.empty());
const sdf::World *world = root.WorldByIndex(0);
ASSERT_NE(nullptr, world);
const sdf::Model *parentModel = world->ModelByIndex(0);
ASSERT_NE(nullptr, parentModel);
const sdf::Model *childModel = parentModel->ModelByIndex(0);
ASSERT_NE(nullptr, childModel);
using ignition::math::Pose3d;
using ignition::math::Vector3d;
// Expected poses for frames, links and joints after nesting.
Pose3d frame1ExpPose = model1Pose * Pose3d(0, 0, 0, IGN_PI/2, 0, 0);
Pose3d frame2ExpPose = frame1ExpPose * Pose3d(0, 0, 0, 0, IGN_PI/4, 0);
Pose3d link1ExpPose = frame1ExpPose;
Pose3d link2ExpPose = frame1ExpPose * Pose3d(1, 0, 0, 0, 0, 0);
Pose3d joint1ExpPose = link1ExpPose;
Vector3d joint1AxisExpVector = frame2ExpPose.Rot() * Vector3d::UnitZ;
Vector3d joint1Axis2ExpVector = frame2ExpPose.Rot() * Vector3d::UnitX;
Pose3d frame1Pose;
auto parentSemPose = parentModel->SemanticPose();
EXPECT_TRUE(parentSemPose.Resolve(frame1Pose, "ParentModel::M1::F1").empty());
EXPECT_EQ(frame1ExpPose, frame1Pose.Inverse());
Pose3d frame2Pose;
EXPECT_TRUE(parentSemPose.Resolve(frame2Pose, "ParentModel::M1::F2").empty());
EXPECT_EQ(frame2ExpPose, frame2Pose.Inverse());
const auto *link1 = parentModel->LinkByName("M1::L1");
ASSERT_NE(nullptr, link1);
Pose3d link1Pose;
EXPECT_TRUE(parentSemPose.Resolve(link1Pose, "ParentModel::M1::L1").empty());
EXPECT_EQ(link1ExpPose, link1Pose.Inverse());
const auto *visual1 = link1->VisualByName("V1");
ASSERT_NE(nullptr, visual1);
EXPECT_EQ("F2", visual1->PoseRelativeTo());
const auto *collision1 = link1->CollisionByName("C1");
ASSERT_NE(nullptr, collision1);
EXPECT_EQ("__model__", collision1->PoseRelativeTo());
const auto *link2 = parentModel->LinkByName("M1::L2");
ASSERT_NE(nullptr, link2);
Pose3d link2Pose;
EXPECT_TRUE(parentSemPose.Resolve(link2Pose, "ParentModel::M1::L2").empty());
EXPECT_EQ(link2ExpPose, link2Pose.Inverse());
const auto *joint1 = parentModel->JointByName("M1::J1");
ASSERT_NE(nullptr, joint1);
Pose3d joint1Pose;
EXPECT_TRUE(parentSemPose.Resolve(joint1Pose, "ParentModel::M1::J1").empty());
EXPECT_EQ(joint1ExpPose, joint1Pose.Inverse());
const auto joint1Axis = joint1->Axis(0);
ASSERT_NE(nullptr, joint1Axis);
Vector3d joint1AxisVector;
EXPECT_TRUE(joint1Axis->ResolveXyz(joint1AxisVector, "__model__").empty());
EXPECT_EQ(joint1AxisExpVector, model1Pose.Rot() * joint1AxisVector);
const auto joint1Axis2 = joint1->Axis(1);
ASSERT_NE(nullptr, joint1Axis2);
Vector3d joint1Axis2Vector;
EXPECT_TRUE(joint1Axis2->ResolveXyz(joint1Axis2Vector, "__model__").empty());
EXPECT_EQ(joint1Axis2ExpVector, model1Pose.Rot() * joint1Axis2Vector);
}
// Function to remove any element in //joint/axis that is not <xyz>
static void removeNoneXyz(const sdf::ElementPtr &_elem)
{
std::vector<sdf::ElementPtr> toRemove;
for (auto el = _elem->GetFirstElement(); el; el = el->GetNextElement())
{
if (el->GetName() != "xyz")
{
toRemove.push_back(el);
}
}
for (const auto &el : toRemove)
{
_elem->RemoveChild(el);
}
}
void prepareModelForDirectComparison(sdf::ElementPtr _modelElem)
{
if (_modelElem->HasElement("joint"))
{
for (auto joint = _modelElem->GetElement("joint"); joint;
joint = joint->GetNextElement("joint"))
{
if (joint->HasElement("axis"))
{
removeNoneXyz(joint->GetElement("axis"));
}
if (joint->HasElement("axis2"))
{
removeNoneXyz(joint->GetElement("axis2"));
}
}
}
if (_modelElem->HasElement("model"))
{
for (auto elem = _modelElem->GetElement("model"); elem;
elem = elem->GetNextElement("model"))
{
prepareModelForDirectComparison(elem);
}
}
}
// Remove elements in world that are not model for comparison with
// expectation. Also remove any element in //joint/axis that is not <xyz>
void prepareForDirectComparison(sdf::ElementPtr _worldElem)
{
std::vector<sdf::ElementPtr> toRemove;
for (auto elem = _worldElem->GetFirstElement(); elem;
elem = elem->GetNextElement())
{
if (elem->GetName() != "model")
{
toRemove.push_back(elem);
}
else
{
prepareModelForDirectComparison(elem);
}
}
for (auto elem : toRemove)
{
_worldElem->RemoveChild(elem);
}
}
//////////////////////////////////////////////////
// Test parsing models with child models containg frames nested via <include>
// Compare parsed SDF with expected string
TEST(NestedModel, NestedModelWithFramesDirectComparison)
{
const std::string name = "test_model_with_frames";
const std::string modelPath = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/model/" + name;
const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, IGN_PI/2);
std::ostringstream stream;
std::string version = "1.7";
stream
<< "<sdf version='" << version << "'>"
<< "<world name='default'>"
<< " <model name='ParentModel'>"
<< " <include>"
<< " <uri>" + modelPath + "</uri>"
<< " <name>M1</name>"
<< " <pose>" << model1Pose << "</pose>"
<< " </include>"
<< " </model>"
<< "</world>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
sdf::Errors errors;
ASSERT_TRUE(
sdf::readStringWithoutConversion(stream.str(), sdfParsed, errors));
auto worldElem = sdfParsed->Root()->GetElement("world");
prepareForDirectComparison(worldElem);
// Compare with expected output
const std::string expectedSdfPath =
std::string(PROJECT_SOURCE_PATH) +
"/test/integration/nested_model_with_frames_expected.sdf";
std::fstream fs;
fs.open(expectedSdfPath);
EXPECT_TRUE(fs.is_open());
std::stringstream expected;
fs >> expected.rdbuf();
EXPECT_EQ(expected.str(), sdfParsed->ToString());
}
//////////////////////////////////////////////////
// Test DOM APIs with partially flattened model
TEST(NestedModel, PartiallyFlattened)
{
const std::string testFile =
sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "integration",
"partially_flattened.sdf");
// Load the SDF file
sdf::Root root;
auto errors = root.Load(testFile);
EXPECT_TRUE(errors.empty());
EXPECT_EQ(1u, root.WorldCount());
const sdf::World *world = root.WorldByIndex(0);
ASSERT_NE(nullptr, world);
// Get the outer model
const sdf::Model *outerModel = world->ModelByIndex(0);
ASSERT_NE(nullptr, outerModel);
EXPECT_EQ("ParentModel", outerModel->Name());
EXPECT_EQ(4u, outerModel->LinkCount());
EXPECT_NE(nullptr, outerModel->LinkByIndex(0));
EXPECT_NE(nullptr, outerModel->LinkByIndex(1));
EXPECT_NE(nullptr, outerModel->LinkByIndex(2));
EXPECT_NE(nullptr, outerModel->LinkByIndex(3));
EXPECT_EQ(nullptr, outerModel->LinkByIndex(4));
EXPECT_TRUE(outerModel->LinkNameExists("M1::L1"));
EXPECT_TRUE(outerModel->LinkNameExists("M1::L2"));
EXPECT_TRUE(outerModel->LinkNameExists("M1::L3"));
EXPECT_TRUE(outerModel->LinkNameExists("M1::L4"));
EXPECT_EQ(3u, outerModel->JointCount());
EXPECT_TRUE(outerModel->JointNameExists("M1::J1"));
EXPECT_TRUE(outerModel->JointNameExists("M1::J2"));
EXPECT_TRUE(outerModel->JointNameExists("M1::J3"));
EXPECT_EQ(3u, outerModel->FrameCount());
EXPECT_TRUE(outerModel->FrameNameExists("M1::__model__"));
EXPECT_TRUE(outerModel->FrameNameExists("M1::F1"));
EXPECT_TRUE(outerModel->FrameNameExists("M1::F2"));
EXPECT_EQ(1u, outerModel->ModelCount());
EXPECT_NE(nullptr, outerModel->ModelByIndex(0));
EXPECT_EQ(nullptr, outerModel->ModelByIndex(1));
// Get the middle model
const sdf::Model *midModel = outerModel->ModelByIndex(0);
ASSERT_NE(nullptr, midModel);
EXPECT_EQ("M1::M2", midModel->Name());
// TODO: the following expectations should be true, but ModelNameExists
// and ModelByName do not support names containing "::".
// EXPECT_TRUE(outerModel->ModelNameExists("M1::M2"));
// EXPECT_EQ(midModel, outerModel->ModelByName("M1::M2"));
EXPECT_EQ(1u, midModel->LinkCount());
EXPECT_NE(nullptr, midModel->LinkByIndex(0));
EXPECT_EQ(nullptr, midModel->LinkByIndex(1));
EXPECT_TRUE(midModel->LinkNameExists("L5"));
EXPECT_EQ(0u, midModel->JointCount());
EXPECT_EQ(0u, midModel->FrameCount());
EXPECT_EQ(0u, midModel->ModelCount());
// test nested names from outer model
// TODO: the following expectations also fail due to the limitations of
// ModelNameExists and ModelByName not supporting names containing "::".
// const std::string midLinkNestedName = "M1::M2::L5";
// EXPECT_TRUE(outerModel->LinkNameExists(midLinkNestedName));
// EXPECT_NE(nullptr, outerModel->LinkByName(midLinkNestedName));
}
//////////////////////////////////////////////////
// Test parsing models that have two levels of nesting with child models
// containg frames nested via <include>.
// Compare parsed SDF with expected string
TEST(NestedModel, TwoLevelNestedModelWithFramesDirectComparison)
{
const std::string modelRootPath = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/model/";
const std::string name = "test_nested_model_with_frames";
const std::string modelPath = modelRootPath + name;
const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, IGN_PI/2);
std::ostringstream stream;
std::string version = "1.7";
stream
<< "<sdf version='" << version << "'>"
<< "<world name='default'>"
<< " <model name='ParentModel'>"
<< " <include>"
<< " <uri>" + modelPath + "</uri>"
<< " <name>M1</name>"
<< " <pose>" << model1Pose << "</pose>"
<< " </include>"
<< " </model>"
<< "</world>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
sdf::setFindCallback(
[&](const std::string &_file)
{
return modelRootPath + _file;
});
sdf::Errors errors;
ASSERT_TRUE(
sdf::readStringWithoutConversion(stream.str(), sdfParsed, errors));
auto worldElem = sdfParsed->Root()->GetElement("world");
prepareForDirectComparison(worldElem);
// Compare with expected output
const std::string expectedSdfPath =
std::string(PROJECT_SOURCE_PATH) +
"/test/integration/two_level_nested_model_with_frames_expected.sdf";
std::fstream fs;
fs.open(expectedSdfPath);
EXPECT_TRUE(fs.is_open());
std::stringstream expected;
fs >> expected.rdbuf();
EXPECT_EQ(expected.str(), sdfParsed->ToString());
}
//////////////////////////////////////////////////
// Test parsing models nested with <include> and that reference sibling frames
// in their //include/pose/@relative_to attribute
TEST(NestedModel, NestedModelWithSiblingFrames)
{
const std::string name = "test_model_with_frames";
const std::string MODEL_PATH = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/model/" + name;
const ignition::math::Pose3d testFramePose(0, 5, 0, 0, 0, -IGN_PI/2);
const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, IGN_PI/2);
std::ostringstream stream;
std::string version = "1.7";
stream
<< "<sdf version='" << version << "'>"
<< "<world name='default'>"
<< " <model name='ParentModel'>"
<< " <frame name='parentModelFrame'/>"
<< " <frame name='testFrame'>"
<< " <pose>" << testFramePose << "</pose>"
<< " </frame>"
<< " <include>"
<< " <uri>" + MODEL_PATH + "</uri>"
<< " <name>M1</name>"
<< " <pose relative_to='testFrame'>" << model1Pose << "</pose>"
<< " </include>"
<< " </model>"
<< "</world>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
sdf::Root root;
sdf::Errors errors = root.Load(sdfParsed);
for (auto e : errors)
std::cout << e.Message() << std::endl;
EXPECT_TRUE(errors.empty());
const sdf::World *world = root.WorldByIndex(0);
ASSERT_NE(nullptr, world);
const sdf::Model *parentModel = world->ModelByIndex(0);
ASSERT_NE(nullptr, parentModel);
const sdf::Frame *parentModelFrame = parentModel->FrameByIndex(0);
ASSERT_NE(nullptr, parentModelFrame);
const sdf::Model *nestedModel1 = parentModel->ModelByName("M1");
ASSERT_NE(nullptr, nestedModel1);
EXPECT_EQ("testFrame", nestedModel1->PoseRelativeTo());
using ignition::math::Pose3d;
using ignition::math::Vector3d;
// Expected poses
Pose3d nestedModel1FrameExpPose = testFramePose * model1Pose;
Pose3d frame1ExpPose =
nestedModel1FrameExpPose * Pose3d(0, 0, 0, IGN_PI / 2, 0, 0);
Pose3d frame2ExpPose = frame1ExpPose * Pose3d(0, 0, 0, 0, IGN_PI / 4, 0);
Pose3d link1ExpPose = frame1ExpPose;
Pose3d link2ExpPose = frame1ExpPose * Pose3d(1, 0, 0, 0, 0, 0);
Pose3d joint1ExpPose = link1ExpPose;
Pose3d nestedModel1FramePose;
EXPECT_TRUE(
nestedModel1->SemanticPose().Resolve(nestedModel1FramePose).empty());
EXPECT_EQ(nestedModel1FrameExpPose, nestedModel1FramePose);
auto parentSemPose = parentModel->SemanticPose();
const auto *frame1 = parentModel->FrameByName("M1::F1");
ASSERT_NE(nullptr, frame1);
Pose3d frame1Pose;
EXPECT_TRUE(parentSemPose.Resolve(frame1Pose, "ParentModel::M1::F1").empty());
EXPECT_EQ(frame1ExpPose, frame1Pose.Inverse());
const auto *frame2 = parentModel->FrameByName("M1::F2");
ASSERT_NE(nullptr, frame2);
Pose3d frame2Pose;
EXPECT_TRUE(parentSemPose.Resolve(frame2Pose, "ParentModel::M1::F2").empty());
EXPECT_EQ(frame2ExpPose, frame2Pose.Inverse());
const auto *link1 = parentModel->LinkByName("M1::L1");
ASSERT_NE(nullptr, link1);
Pose3d link1Pose;
EXPECT_TRUE(parentSemPose.Resolve(link1Pose, "ParentModel::M1::L1").empty());
EXPECT_EQ(link1ExpPose, link1Pose.Inverse());
const auto *link2 = parentModel->LinkByName("M1::L2");
ASSERT_NE(nullptr, link2);
Pose3d link2Pose;
EXPECT_TRUE(parentSemPose.Resolve(link2Pose, "ParentModel::M1::L2").empty());
EXPECT_EQ(link2ExpPose, link2Pose.Inverse());
const auto *joint1 = parentModel->JointByName("M1::J1");
ASSERT_NE(nullptr, joint1);
Pose3d joint1Pose;
EXPECT_TRUE(parentSemPose.Resolve(joint1Pose, "ParentModel::M1::J1").empty());
EXPECT_EQ(joint1ExpPose, joint1Pose.Inverse());
}
//////////////////////////////////////////////////
// Test parsing models with child models that contain only frames
// and are nested via <include>
TEST(NestedModel, NestedFrameOnlyModel)
{
const std::string name = "frame_only_model";
const std::string MODEL_PATH = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/model/" + name;
const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, IGN_PI/2);
std::ostringstream stream;
std::string version = "1.8";
stream
<< "<sdf version='" << version << "'>"
<< "<world name='default'>"
<< " <model name='ParentModel'>"
<< " <static>true</static>"
<< " <include>"
<< " <uri>" + MODEL_PATH + "</uri>"
<< " <name>M1</name>"
<< " <pose>" << model1Pose << "</pose>"
<< " </include>"
<< " </model>"
<< "</world>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
sdf::Root root;
sdf::Errors errors = root.Load(sdfParsed);
EXPECT_TRUE(errors.empty()) << errors;
const sdf::World *world = root.WorldByIndex(0);
ASSERT_NE(nullptr, world);
const sdf::Model *parentModel = world->ModelByIndex(0);
ASSERT_NE(nullptr, parentModel);
auto parentSemPose = parentModel->SemanticPose();
using ignition::math::Pose3d;
using ignition::math::Vector3d;
// Expected poses for frames after nesting.
Pose3d frame1ExpPose = model1Pose * Pose3d(0, 0, 0, IGN_PI, 0, 0);
Pose3d frame2ExpPose = frame1ExpPose * Pose3d(0, 0, 0, 0, IGN_PI, 0);
Pose3d frame1Pose;
EXPECT_TRUE(parentSemPose.Resolve(frame1Pose, "ParentModel::M1::F1").empty());
EXPECT_EQ(frame1ExpPose, frame1Pose.Inverse());
Pose3d frame2Pose;
EXPECT_TRUE(parentSemPose.Resolve(frame2Pose, "ParentModel::M1::F2").empty());
EXPECT_EQ(frame2ExpPose, frame2Pose.Inverse());
}
class PlacementFrame: public ::testing::Test
{
protected: using Pose3d = ignition::math::Pose3d;
protected: void SetUp() override
{
const std::string modelRootPath = sdf::filesystem::append(
PROJECT_SOURCE_PATH, "test", "integration", "model");
const std::string testModelPath = sdf::filesystem::append(
PROJECT_SOURCE_PATH, "test", "sdf", "placement_frame.sdf");
sdf::setFindCallback(
[&](const std::string &_file)
{
return sdf::filesystem::append(modelRootPath, _file);
});
sdf::Errors errors = this->root.Load(testModelPath);
for (const auto &e : errors)
{
std::cout << e.Message() << std::endl;
}
if (!errors.empty())
{
std::cout << this->root.Element()->ToString("") << std::endl;
}
EXPECT_TRUE(errors.empty());
this->world = this->root.WorldByIndex(0);
ASSERT_NE(nullptr, world);
}
public: template <typename FrameType>
const FrameType *GetFrameByName(
const sdf::Model *_model, const std::string &_testFrameName)
{
// cppcheck-suppress syntaxError
if constexpr (std::is_same_v<FrameType, sdf::Frame>)
{
return _model->FrameByName(_testFrameName);
}
else if constexpr (std::is_same_v<FrameType, sdf::Link>)
{
return _model->LinkByName(_testFrameName);
}
else if constexpr (std::is_same_v<FrameType, sdf::Joint>)
{
return _model->JointByName(_testFrameName);
}
else
{
return nullptr;
}
}
public: sdf::SemanticPose GetChildEntitySemanticPose(
const sdf::World *_world, const std::string _entityName)
{
return _world->ModelByName(_entityName)->SemanticPose();
}
public: template <typename FrameType>
void TestExpectedWorldPose(const std::string &_testModelName,
const std::string &_testFrameName)
{
const Pose3d placementPose(0, 10, 0, IGN_PI_2, 0, 0);
const sdf::Model *testModel = this->world->ModelByName(_testModelName);
ASSERT_NE(nullptr, testModel);
// Pose of model in world frame
Pose3d modelPoseWorld;
{
sdf::Errors errors =
testModel->SemanticPose().Resolve(modelPoseWorld, "world");
EXPECT_TRUE(errors.empty()) << errors[0].Message();
}
const auto *testFrame =
this->GetFrameByName<FrameType>(testModel, _testFrameName);
ASSERT_NE(nullptr, testFrame);
// Pose of frame in its parent model frame.
Pose3d frameRelPose;
{
sdf::Errors errors =