From 4a14001444773d01c550204928e076cb743783fb Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Sun, 27 Jun 2021 17:30:22 +0200
Subject: [PATCH] Extend ArmarXObjectsTest
---
.../ArmarXObjects/test/ArmarXObjectsTest.cpp | 51 ++++++++++++++++++-
1 file changed, 50 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp b/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp
index 28a302b49..7a875741d 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp
@@ -29,7 +29,14 @@
#include <iostream>
-#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
+#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.aron.generated.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
+
+
+namespace fs = std::filesystem;
+
+
+BOOST_AUTO_TEST_SUITE(arondto_ObjectPose_test)
BOOST_AUTO_TEST_CASE(test_ObjectType_copy_assignment)
@@ -64,3 +71,45 @@ BOOST_AUTO_TEST_CASE(test_ObjectPose_copy_assignment)
BOOST_TEST_MESSAGE("Done");
}
+
+
+BOOST_AUTO_TEST_SUITE_END()
+
+
+
+BOOST_AUTO_TEST_SUITE(ObjectFinderTest)
+
+
+BOOST_AUTO_TEST_CASE(test_find)
+{
+ using namespace armarx;
+
+ ObjectFinder finder;
+
+ bool checkPaths = false;
+ std::vector<ObjectInfo> objects = finder.findAllObjects(checkPaths);
+ BOOST_CHECK_GT(objects.size(), 0);
+
+ for (const ObjectInfo& object : objects)
+ {
+ fs::path simoxXML = object.simoxXML().absolutePath;
+ fs::path objectDir = simoxXML.parent_path();
+ BOOST_TEST_CONTEXT("Object: " << object.id() << " at " << objectDir)
+ {
+ BOOST_CHECK(fs::is_directory(objectDir));
+ BOOST_CHECK(fs::is_regular_file(simoxXML)
+ || fs::is_regular_file(object.articulatedSimoxXML().absolutePath));
+ }
+ }
+}
+
+
+
+BOOST_AUTO_TEST_SUITE_END()
+
+
+
+
+
+
+
--
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