text: /*
   * Copyright (c) 2008, Willow Garage, Inc.
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   *     * Redistributions of source code must retain the above copyright
   *       notice, this list of conditions and the following disclaimer.
   *     * Redistributions in binary form must reproduce the above copyright
   *       notice, this list of conditions and the following disclaimer in the
   *       documentation and/or other materials provided with the distribution.
   *     * Neither the name of the Willow Garage, Inc. nor the names of its
   *       contributors may be used to endorse or promote products derived from
   *       this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
   * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   */
  
  #include <ros/package.h>
  #include <gtest/gtest.h>
  #include <vector>
  #include <boost/scoped_ptr.hpp>
  #include "pr2_mechanism_model/robot.h"
  #include "pr2_mechanism_model/chain.h"
  #include <kdl/chainfksolverpos_recursive.hpp>
  
  using namespace pr2_mechanism_model;
  using namespace std;
  
  
  // Just three links
  class ShortChainTest : public testing::Test
  {
  protected:
    ShortChainTest() {}
    virtual ~ShortChainTest() {}
  
    virtual void SetUp() {}
  
    virtual void TearDown() {}
  
    pr2_hardware_interface::HardwareInterface hw;
  };
  
  TEST_F(ShortChainTest, FKShouldMatchOnShortChainWhenStraight)
  {
    TiXmlDocument urdf_xml;
    urdf_xml.LoadFile(ros::package::getPath("pr2_mechanism_model") + "/pr2.urdf");
    TiXmlElement *root = urdf_xml.FirstChildElement("robot");
    ASSERT_TRUE(root != NULL);
    pr2_hardware_interface::HardwareInterface hw;
    Robot model(&hw);
    ASSERT_TRUE(model.initXml(root));
    RobotState state(&model);
  
    // Test no longer valid because joint state is empty when actuators are not present
    /*
    // extract chain
    Chain chain;
    EXPECT_TRUE(chain.init(&state, "fl_caster_l_wheel_link", "r_gripper_palm_link"));
    KDL::Chain kdl;
    chain.toKDL(kdl);
    unsigned int nr_segments = 13;
    unsigned int nr_joints = 10;
    ASSERT_EQ(nr_segments, kdl.getNrOfSegments());
    ASSERT_EQ(nr_joints, kdl.getNrOfJoints());
  
    KDL::JntArray jnts(state.joint_states_.size());
    chain.getPositions(jnts);
    */
  }
  
  int main(int argc, char **argv){
    testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
  }
  