add integration test for links

adlarkin · adlarkin · commit 4e0882d987d8 · 2022-04-08T12:56:48.000-06:00
Signed-off-by: Ashton Larkin &lt;42042756+adlarkin@users.noreply.github.com&gt;
diff --git a/usd/src/usd_parser/usd2sdf_TEST.cc b/usd/src/usd_parser/usd2sdf_TEST.cc
@@ -139,5 +139,21 @@ TEST(check_cmd, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF))
     EXPECT_TRUE(world->ModelByName("ground_plane")->Static());
     ASSERT_NE(nullptr, world->ModelByName("box"));
     EXPECT_FALSE(world->ModelByName("box")->Static());
+
+    // check that models have the right links
+    std::function<void(const std::string &, const std::string &)> checkLink =
+      [&world](const std::string &_modelName, const std::string &_linkName)
+      {
+        const auto modelPtr = world->ModelByName(_modelName);
+        ASSERT_NE(nullptr, modelPtr);
+        EXPECT_EQ(1u, modelPtr->LinkCount());
+        EXPECT_NE(nullptr, modelPtr->LinkByName(_linkName));
+      };
+    checkLink("ground_plane", "link");
+    checkLink("box", "box_link");
+    checkLink("cylinder", "cylinder_link");
+    checkLink("sphere", "sphere_link");
+    checkLink("capsule", "capsule_link");
+    checkLink("ellipsoid", "ellipsoid_link");
   }
 }
