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Correct formatting of JointLimits URDF file. #1339

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Jan 25, 2024
Merged

Correct formatting of JointLimits URDF file. #1339

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6 changes: 3 additions & 3 deletions joint_limits/include/joint_limits/joint_limits_urdf.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,8 @@

/// \author Adolfo Rodriguez Tsouroukdissian

#ifndef JOINT_LIMITS_URDF_HPP
#define JOINT_LIMITS_URDF_HPP
#ifndef JOINT_LIMITS__JOINT_LIMITS_URDF_HPP_
#define JOINT_LIMITS__JOINT_LIMITS_URDF_HPP_

#include "joint_limits/joint_limits.hpp"
#include "urdf_model/joint.h"
Expand Down Expand Up @@ -82,4 +82,4 @@ inline bool getSoftJointLimits(urdf::JointConstSharedPtr urdf_joint, SoftJointLi
return true;
}
} // namespace joint_limits
#endif // JOINT_LIMITS_URDF_HPP
#endif // JOINT_LIMITS__JOINT_LIMITS_URDF_HPP_
19 changes: 8 additions & 11 deletions joint_limits/test/joint_limits_urdf_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,6 @@
#include "gtest/gtest.h"

using std::string;
using namespace joint_limits;

class JointLimitsUrdfTest : public ::testing::Test
{
Expand Down Expand Up @@ -53,14 +52,14 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)
{
// Unset URDF joint
{
JointLimits limits;
joint_limits::JointLimits limits;
urdf::JointSharedPtr urdf_joint_bad;
EXPECT_FALSE(getJointLimits(urdf_joint_bad, limits));
}

// Unset URDF limits
{
JointLimits limits;
joint_limits::JointLimits limits;
urdf::JointSharedPtr urdf_joint_bad(new urdf::Joint);
EXPECT_FALSE(getJointLimits(urdf_joint_bad, limits));
}
Expand All @@ -69,7 +68,7 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)
{
urdf_joint->type = urdf::Joint::CONTINUOUS;

JointLimits limits;
joint_limits::JointLimits limits;
EXPECT_TRUE(getJointLimits(urdf_joint, limits));

// Position
Expand All @@ -92,7 +91,7 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)
{
urdf_joint->type = urdf::Joint::REVOLUTE;

JointLimits limits;
joint_limits::JointLimits limits;
EXPECT_TRUE(getJointLimits(urdf_joint, limits));

// Position
Expand All @@ -117,7 +116,7 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)
{
urdf_joint->type = urdf::Joint::PRISMATIC;

JointLimits limits;
joint_limits::JointLimits limits;
EXPECT_TRUE(getJointLimits(urdf_joint, limits));

// Position
Expand All @@ -141,25 +140,23 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)

TEST_F(JointLimitsUrdfTest, GetSoftJointLimits)
{
using namespace joint_limits;

// Unset URDF joint
{
SoftJointLimits soft_limits;
joint_limits::SoftJointLimits soft_limits;
urdf::JointSharedPtr urdf_joint_bad;
EXPECT_FALSE(getSoftJointLimits(urdf_joint_bad, soft_limits));
}

// Unset URDF limits
{
SoftJointLimits soft_limits;
joint_limits::SoftJointLimits soft_limits;
urdf::JointSharedPtr urdf_joint_bad(new urdf::Joint);
EXPECT_FALSE(getSoftJointLimits(urdf_joint_bad, soft_limits));
}

// Valid URDF joint
{
SoftJointLimits soft_limits;
joint_limits::SoftJointLimits soft_limits;
EXPECT_TRUE(getSoftJointLimits(urdf_joint, soft_limits));

// Soft limits
Expand Down
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