test_sdf_serial_manipulator_loader.cc File Reference

Standalone test for SdfSerialManipulatorLoader. More...

#include <cmath>
#include <filesystem>
#include <iostream>
#include <random>
#include <string>
#include <Eigen/Dense>
#include <gz/math/Pose3.hh>
#include <sdf/Joint.hh>
#include <sdf/JointAxis.hh>
#include <sdf/Link.hh>
#include <sdf/Model.hh>
#include <sdf/ParserConfig.hh>
#include <sdf/Root.hh>
#include <sdf/World.hh>
#include <sas_robot_driver_gazebo/SdfSerialManipulatorLoader.h>

Functions
int	main (int argc, char **argv)

Detailed Description

Standalone test for SdfSerialManipulatorLoader.

Loads a serial-manipulator SDF model (e.g. sdf/r820.sdf or sdf/ur3e.sdf) and checks:

1. The kinematic chain has the expected number of revolute joints (when an expected count is given), all acting about +z (RZ), with matching DOF and limit counts.
2. model.fkm(q) matches an independent 4x4 matrix chain built from the same SDF poses (so the test is not circular: the reference does not use the loader's DQ conversion).

Usage: test_sdf_serial_manipulator_loader <model.sdf> [expected_joint_count]