fix expectation hierarchy for joint12

scpeters · scpeters · commit 1c19e26b490e · 2020-04-10T16:37:00.000-07:00
diff --git a/test/integration/urdf_gazebo_extensions.cc b/test/integration/urdf_gazebo_extensions.cc
@@ -89,7 +89,10 @@ TEST(SDFParser, UrdfGazeboExtensionURDFTest)
       // cfmDamping not provided
       ASSERT_TRUE(joint->HasElement("physics"));
       sdf::ElementPtr physics = joint->GetElement("physics");
-      EXPECT_FALSE(physics->HasElement("implicit_spring_damper"));
+      ASSERT_TRUE(physics->HasElement("ode"));
+      sdf::ElementPtr ode = physics->GetElement("ode");
+      ASSERT_TRUE(ode->HasElement("implicit_spring_damper"));
+      EXPECT_FALSE(ode->Get<bool>("implicit_spring_damper"));
     }
     else if (jointName == "joint13")
     {

Original file line number	Diff line number	Diff line change
`@@ -89,7 +89,10 @@ TEST(SDFParser, UrdfGazeboExtensionURDFTest)`
`89`	`89`	`// cfmDamping not provided`
`90`	`90`	`ASSERT_TRUE(joint->HasElement("physics"));`
`91`	`91`	`sdf::ElementPtr physics = joint->GetElement("physics");`
`92`		`- EXPECT_FALSE(physics->HasElement("implicit_spring_damper"));`
	`92`	`+ ASSERT_TRUE(physics->HasElement("ode"));`
	`93`	`+ sdf::ElementPtr ode = physics->GetElement("ode");`
	`94`	`+ ASSERT_TRUE(ode->HasElement("implicit_spring_damper"));`
	`95`	`+ EXPECT_FALSE(ode->Get<bool>("implicit_spring_damper"));`
`93`	`96`	`}`
`94`	`97`	`else if (jointName == "joint13")`
`95`	`98`	`{`