public void TestLoadBaseNodeFromModel(string modelName, int expNumLinks)
{
ModelDoc2 doc = OpenSWDocument(modelName);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool error);
Xunit.Assert.False(error);
Xunit.Assert.NotNull(baseNode);
Xunit.Assert.Equal(expNumLinks, CommonSwOperations.GetCount(baseNode.RebuildLink()));
}
public void TestGetCountNodeCollection(string modelName, int expected)
{
ModelDoc2 doc = OpenSWDocument(modelName);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool abortProcess);
Assert.False(abortProcess);
Assert.Equal(expected, CommonSwOperations.GetCount(baseNode.Nodes));
SwApp.CloseAllDocuments(true);
}
public void TestExportRobotSkipVisual(string modelName, int expNumLinks)
{
ModelDoc2 doc = OpenSWDocument(modelName);
ExportHelper helper = new ExportHelper(SwApp);
helper.SetComputeInertial(true);
helper.SetComputeJointKinematics(true);
helper.SetComputeJointLimits(true);
helper.SetComputeVisualCollision(false);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool error);
Assert.False(error);
helper.CreateRobotFromTreeView(baseNode);
helper.ExportRobot(true);
Assert.NotNull(helper.URDFRobot);
Assert.Equal(expNumLinks, CommonSwOperations.GetCount(helper.URDFRobot.BaseLink));
Assert.True(SwApp.CloseAllDocuments(true));
}
public void TestLoadConfigFromStringXML(string modelName, int expNumLinks)
{
ModelDoc2 doc = OpenSWDocument(modelName);
PrivateType serialization = new PrivateType(typeof(ConfigurationSerialization));
object swAttObj = serialization.InvokeStatic(
"FindSWSaveAttribute", new object[] { doc, "URDF Export Configuration" });
Xunit.Assert.NotNull(swAttObj);
Attribute swAtt = (Attribute)swAttObj;
Parameter param = swAtt.GetParameter("data");
Xunit.Assert.NotNull(param);
string data = param.GetStringValue();
Xunit.Assert.NotNull(data);
Xunit.Assert.NotEmpty(data);
LinkNode baseNode = (LinkNode)serialization.InvokeStatic(
"LoadConfigFromStringXML", new object[] { data });
Link link = baseNode.RebuildLink();
Xunit.Assert.Equal(expNumLinks, CommonSwOperations.GetCount(link));
}