Add partially_flattened.sdf example and test

Add test showing that Model::ModelByName and Model::ModelNameExists have trouble with model names that contain "::" with TODO comments to remind that they should be fixed. Signed-off-by: Steve Peters <[email protected]>
gazebosim · Oct 26, 2020 · 93658c3 · 93658c3
1 parent c44f822
commit 93658c3
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diff --git a/test/integration/model_dom.cc b/test/integration/model_dom.cc
@@ -299,6 +299,68 @@ TEST(DOMRoot, MultiNestedModel)
   EXPECT_NE(nullptr, outerModel->FrameByName(innerFrameNestedName));
 }
 
+////////////////////////////////////////////////
+TEST(DOMRoot, PartiallyFlattenedModel)
+{
+  const std::string testFile =
+    sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
+        "partially_flattened.sdf");
+
+  // Load the SDF file
+  sdf::Root root;
+  auto errors = root.Load(testFile);
+  EXPECT_TRUE(errors.empty());
+
+  EXPECT_EQ(1u, root.ModelCount());
+
+  // Get the outer model
+  const sdf::Model *outerModel = root.ModelByIndex(0);
+  ASSERT_NE(nullptr, outerModel);
+  EXPECT_EQ("MP", outerModel->Name());
+  EXPECT_EQ(1u, outerModel->LinkCount());
+  EXPECT_NE(nullptr, outerModel->LinkByIndex(0));
+  EXPECT_EQ(nullptr, outerModel->LinkByIndex(1));
+
+  EXPECT_TRUE(outerModel->LinkNameExists("M1::L1"));
+
+  EXPECT_EQ(0u, outerModel->JointCount());
+
+  EXPECT_EQ(1u, outerModel->FrameCount());
+  EXPECT_TRUE(outerModel->FrameNameExists("M1::__model__"));
+
+  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("L2"));
+
+  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::L2";
+  // EXPECT_TRUE(outerModel->LinkNameExists(midLinkNestedName));
+  // EXPECT_NE(nullptr, outerModel->LinkByName(midLinkNestedName));
+}
+
 /////////////////////////////////////////////////
 TEST(DOMLink, NestedModelPoseRelativeTo)
 {

diff --git a/test/sdf/partially_flattened.sdf b/test/sdf/partially_flattened.sdf
@@ -0,0 +1,13 @@
+<sdf version='1.7'>
+  <model name='MP'>
+    <frame name='M1::__model__' attached_to='M1::L1'>
+      <pose relative_to='__model__'>0 0 0 0 -0 0</pose>
+    </frame>
+    <link name='M1::L1'>
+      <pose relative_to='M1::__model__'>0 0 0 0 -0 0</pose>
+    </link>
+    <model name='M1::M2'> <!-- This is actually be M2 in the output. I think it's a bug -->
+      <link name='L2'/>
+    </model>
+  </model>
+</sdf>