From f3f81a21129d38c1db0097fb72bbbe964b404a03 Mon Sep 17 00:00:00 2001
From: Guillaume Doisy <guillaume.doisy@wyca.fr>
Date: Wed, 6 Jan 2021 19:07:29 +0100
Subject: [PATCH] add integration test

Signed-off-by: Guillaume Doisy <guillaume.doisy@wyca.fr>
---
 test/integration/visual_dom.cc | 24 ++++++++++++++++++++++++
 test/sdf/shapes.sdf            |  9 +++++++++
 2 files changed, 33 insertions(+)

diff --git a/test/integration/visual_dom.cc b/test/integration/visual_dom.cc
index dd7d27fcc..df124f51b 100644
--- a/test/integration/visual_dom.cc
+++ b/test/integration/visual_dom.cc
@@ -203,6 +203,30 @@ TEST(DOMVisual, Transparency)
   EXPECT_FLOAT_EQ(0.22f, vis1->Transparency());
 }
 
+//////////////////////////////////////////////////
+TEST(DOMVisual, LaserRetro)
+{
+  const std::string testFile =
+    sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
+        "shapes.sdf");
+
+  // Load the SDF file
+  sdf::Root root;
+  EXPECT_TRUE(root.Load(testFile).empty());
+
+  const sdf::Model *model = root.ModelByIndex(0);
+  ASSERT_NE(nullptr, model);
+
+  const sdf::Link *link = model->LinkByIndex(0);
+  ASSERT_NE(nullptr, link);
+
+  const sdf::Visual *vis1 = link->VisualByName("sphere_vis_laser_retro");
+  ASSERT_NE(nullptr, vis1);
+
+  ASSERT_EQ(true, vis1->HasLaserRetro());
+  EXPECT_DOUBLE_EQ(1150, vis1->LaserRetro());
+}
+
 /////////////////////////////////////////////////
 TEST(DOMVisual, LoadModelFramesRelativeToJoint)
 {
diff --git a/test/sdf/shapes.sdf b/test/sdf/shapes.sdf
index b5e2ce799..3401fbb15 100644
--- a/test/sdf/shapes.sdf
+++ b/test/sdf/shapes.sdf
@@ -153,6 +153,15 @@
           </sphere>
         </geometry>
       </visual>
+      
+      <visual name="sphere_vis_laser_retro">
+        <laser_retro>1150</laser_retro>
+        <geometry>
+          <sphere>
+            <radius>0.5</radius>
+          </sphere>
+        </geometry>
+      </visual>
     </link>
   </model>
 </sdf>