Function TEST

pj_scene3D/widgets/tests/robot_model_layer_test.cpp:417–433

}  // namespace

TEST(RobotModelLayerTest, TopicSourceDecodesThroughParserAndAppliesFramePrefix) {
  PJ::SessionManager session;
  const PJ::ObjectTopicId topic_id = registerTopic(session);
  registerParser(session, topic_id, urdfParserVtable());
  pushWireBytes(session, topic_id);

  pj::scene3d::RobotModelLayer layer(topic_id, QStringLiteral("/robot_description"));
  layer.setFramePrefix(QStringLiteral("robot1/"));
  const auto ctx = makeContext(session);

  ASSERT_TRUE(layer.attach(ctx));
  ASSERT_NE(layer.robotModel(), nullptr);
  EXPECT_EQ(layer.robotModel()->root_link, "base_link");
  EXPECT_EQ(layer.sourceFrame(), QStringLiteral("robot1/base_link"));
  EXPECT_EQ(layer.linkFrameName("tool0"), QStringLiteral("robot1/tool0"));
  EXPECT_TRUE(layer.fallbackFrames().contains(QStringLiteral("robot1/base_link")));
}

TEST(RobotModelLayerTest, TimeRangeIsInvertedEvenWhenLatchIsMissing) {
  PJ::SessionManager session;