Improving infrastructure for future tests

bourumir-wyngs · May 26, 2024 · 93738f6 · 93738f6
1 parent 0a0834a
commit 93738f6
Showing 1 changed file with 12 additions and 14 deletions.
diff --git a/src/tests/urdf_extractor.rs b/src/tests/urdf_extractor.rs
@@ -131,20 +131,24 @@ fn test_extraction_kr6r700sixx() {
     assert_eq!(urdf.c4, yaml.c4, "c4 parameter mismatch");
 }
 
+fn assert_parameter_extraction(yaml: Parameters, urdf: URDFParameters, robot: &str) {
+    assert_eq!(urdf.a1, yaml.a1, "a1 parameter mismatch for {}", robot);
+    assert_eq!(urdf.a2, yaml.a2, "a2 parameter mismatch for {}", robot);
+    assert_eq!(urdf.b, yaml.b, "b parameter mismatch for {}", robot);
+    assert_eq!(urdf.c1, yaml.c1, "c1 parameter mismatch for {}", robot);
+    assert_eq!(urdf.c2, yaml.c2, "c2 parameter mismatch for {}", robot);
+    assert_eq!(urdf.c3, yaml.c3, "c3 parameter mismatch for {}", robot);
+    assert_eq!(urdf.c4, yaml.c4, "c4 parameter mismatch for {}", robot);
+}
+
 #[test]
 fn test_extraction_kr150() {
     let yaml = Parameters::from_yaml_file("\
     src/tests/data/kuka/opw_parameters_kr150r3100_2.yaml")
         .expect("Failed to read or parse URDF");
     let urdf = read_urdf("src/tests/data/kuka/kr150r3100_2_macro.xacro");
 
-    assert_eq!(urdf.a1, yaml.a1, "a1 parameter mismatch");
-    assert_eq!(urdf.a2, yaml.a2, "a2 parameter mismatch");
-    assert_eq!(urdf.b, yaml.b, "b parameter mismatch");
-    assert_eq!(urdf.c1, yaml.c1, "c1 parameter mismatch");
-    assert_eq!(urdf.c2, yaml.c2, "c2 parameter mismatch");
-    assert_eq!(urdf.c3, yaml.c3, "c3 parameter mismatch");
-    assert_eq!(urdf.c4, yaml.c4, "c4 parameter mismatch");
+    assert_parameter_extraction(yaml, urdf, "kr150r3100_2");
 }
 
 #[test]
@@ -154,13 +158,7 @@ fn test_extraction_kr10r1420() {
         .expect("Failed to read or parse URDF");
     let urdf = read_urdf("src/tests/data/kuka/kr10r1420_macro.xacro");
 
-    assert_eq!(urdf.a1, yaml.a1, "a1 parameter mismatch");
-    assert_eq!(urdf.a2, yaml.a2, "a2 parameter mismatch");
-    assert_eq!(urdf.b, yaml.b, "b parameter mismatch");
-    assert_eq!(urdf.c1, yaml.c1, "c1 parameter mismatch");
-    assert_eq!(urdf.c2, yaml.c2, "c2 parameter mismatch");
-    assert_eq!(urdf.c3, yaml.c3, "c3 parameter mismatch");
-    assert_eq!(urdf.c4, yaml.c4, "c4 parameter mismatch");
+    assert_parameter_extraction(yaml, urdf, "kr10r1420");
 }