codecheck: helper functions public, use in test

Signed-off-by: Steve Peters <[email protected]>
gazebosim · May 13, 2020 · 330e6a5 · 330e6a5
1 parent b763472
commit 330e6a5
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Showing 2 changed files with 21 additions and 6 deletions.
diff --git a/src/parser_urdf.hh b/src/parser_urdf.hh
@@ -68,15 +68,15 @@ namespace sdf
     /// \return True if _filename is a URDF model.
     public: static bool IsURDF(const std::string &_filename);
 
-    /// things that do not belong in urdf but should be mapped into sdf
-    /// @todo: do this using sdf definitions, not hard coded stuff
-    private: void ParseSDFExtension(TiXmlDocument &_urdfXml);
-
     /// list extensions for debugging
-    private: void ListSDFExtensions();
+    public: void ListSDFExtensions();
 
     /// list extensions for debugging
-    private: void ListSDFExtensions(const std::string &_reference);
+    public: void ListSDFExtensions(const std::string &_reference);
+
+    /// things that do not belong in urdf but should be mapped into sdf
+    /// @todo: do this using sdf definitions, not hard coded stuff
+    private: void ParseSDFExtension(TiXmlDocument &_urdfXml);
   };
   }
 }

diff --git a/src/parser_urdf_TEST.cc b/src/parser_urdf_TEST.cc
@@ -173,6 +173,9 @@ TEST(URDFParser, ParseRobotMaterialBlank)
 
   auto materialElem = visualElem->FirstChildElement("material");
   ASSERT_EQ(nullptr, materialElem);
+
+  parser.ListSDFExtensions();
+  parser.ListSDFExtensions("link");
 }
 
 /////////////////////////////////////////////////
@@ -220,6 +223,9 @@ TEST(URDFParser, ParseRobotMaterialName)
   ASSERT_NE(nullptr, uriElem);
   EXPECT_EQ("file://media/materials/scripts/gazebo.material",
       std::string(uriElem->GetText()));
+
+  parser.ListSDFExtensions();
+  parser.ListSDFExtensions("link");
 }
 
 /////////////////////////////////////////////////
@@ -309,6 +315,9 @@ TEST(URDFParser, ParseGazeboLinkFactors)
 
     // For the last element, check that it is exactly what we expect
     EXPECT_EQ(tmp->FirstChild()->ValueStr(), it->second[i]);
+
+    parser_.ListSDFExtensions();
+    parser_.ListSDFExtensions("wheel_left_link");
   }
 }
 
@@ -332,6 +341,9 @@ TEST(URDFParser, ParseGazeboInvalidDampingFactor)
   doc.Parse(stream.str().c_str());
   ASSERT_THROW(TiXmlDocument sdf_result = parser_.InitModelDoc(&doc),
                std::invalid_argument);
+
+  parser_.ListSDFExtensions();
+  parser_.ListSDFExtensions("link");
 }
 
 /////////////////////////////////////////////////
@@ -414,6 +426,9 @@ TEST(URDFParser, ParseGazeboJointElements)
 
     // For the last element, check that it is exactly what we expect
     EXPECT_EQ(tmp->FirstChild()->ValueStr(), it->second[i]);
+
+    parser_.ListSDFExtensions();
+    parser_.ListSDFExtensions("head_j0");
   }
 }