[Unittest] Add Lua parser Unittest

models/simple_model.lua

+inertia = { 
+	{1.1, 0.1, 0.2},
+	{0.1, 1.2, 0.4},
+	{0.2, 0.4, 1.3}
+}
+
+pelvis = { mass = 9.3, com = { 1.1, 1.2, 1.3}, inertia = inertia }
+thigh = { mass = 4.2, com = { 1.1, 1.2, 1.3}, inertia = inertia }
+shank = { mass = 4.1, com = { 1.1, 1.2, 1.3}, inertia = inertia }
+foot = { mass = 1.1, com = { 1.1, 1.2, 1.3}, inertia = inertia }
+
+bodies = {
+	pelvis = pelvis,
+	thigh_right = thigh,
+	shank_right = shank,
+	thigh_left = thigh,
+	shank_left = shank
+}
+
+joints = {
+	freeflyer = {
+    'jointFreeFlyer'
+	},
+	spherical_zyx = {
+    'jointSphericalZYX'
+	},
+	rotational_y = {
+    'jointRY'
+	},
+
+	fixed = {
+    'jointFixed'
+  },
+}
+
+model = {
+	frames = {
+		{
+			name = "pelvis",
+			--parent = "ROOT",
+			body = bodies.pelvis,
+			--joint = joints.freeflyer,
+		},
+		{
+			name = "thigh_right",
+			parent = "pelvis",
+			body = bodies.thigh_right,
+			joint = joints.spherical_zyx,
+      joint_name = "hip_right",
+		},
+		{
+			name = "shank_right",
+			parent = "thigh_right",
+			body = bodies.thigh_right,
+			joint = joints.rotational_y
+		},
+		{
+			name = "foot_right",
+			parent = "shank_right",
+			body = bodies.thigh_right,
+			joint = joints.fixed
+		},
+		{
+			name = "thigh_left",
+			parent = "pelvis",
+			body = bodies.thigh_left,
+			joint = joints.spherical_zyx,
+      joint_name = "hip_left",
+		},
+		{
+			name = "shank_left",
+			parent = "thigh_left",
+			body = bodies.thigh_left,
+			joint = joints.rotational_y
+		},
+		{
+			name = "foot_left",
+			parent = "shank_left",
+			body = bodies.thigh_left,
+			joint = joints.fixed
+		},
+	}
+}
+
+return model

src/multibody/parser/lua.cpp

@@ -213,7 +213,7 @@ namespace se3
             joint_type = "jointFreeFlyer";
           else
           {
-            std::cerr << "The first segment is defined without any definition of joint type relatily to the environment." << std::endl;
+            std::cerr << "The first segment is defined without any definition of joint type relatily to the world." << std::endl;
             abort ();
           }
         }

unittest/CMakeLists.txt

@@ -45,6 +45,12 @@ IF(URDFDOM_FOUND)
   ADD_TEST_CFLAGS(value '-DPINOCCHIO_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
 ENDIF(URDFDOM_FOUND)
 
+IF(LUA5_1_FOUND)
+  ADD_UNIT_TEST(lua "eigen3;lua5.1")
+  TARGET_LINK_LIBRARIES(lua ${PROJECT_NAME})
+  ADD_TEST_CFLAGS(lua '-DPINOCCHIO_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
+ENDIF(LUA5_1_FOUND)
+
 # Work in progress
 #ADD_UNIT_TEST(constraint eigen3)
 #ADD_UNIT_TEST(variant eigen3)

unittest/lua.cpp

+#include <iostream>
+
+#include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/parser/lua.hpp"
+
+#define BOOST_TEST_DYN_LINK
+#define BOOST_TEST_MODULE UrdfTest
+#include <boost/test/unit_test.hpp>
+
+
+BOOST_AUTO_TEST_SUITE ( ParsingLuaFile )
+
+BOOST_AUTO_TEST_CASE ( buildModel )
+{
+  std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_model.lua";
+
+  #ifndef NDEBUG
+     std::cout << "Parse filename \"" << filename << "\"" << std::endl;
+  #endif
+    se3::Model model = se3::lua::buildModel(filename, true, true);
+}
+
+BOOST_AUTO_TEST_SUITE_END()