113 lines
4.4 KiB
C++
113 lines
4.4 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef _MODELLISTWIDGET_TEST_HH_
|
||
|
|
#define _MODELLISTWIDGET_TEST_HH_
|
||
|
|
|
||
|
|
#include <string>
|
||
|
|
#include "gazebo/gui/QTestFixture.hh"
|
||
|
|
|
||
|
|
class QtProperty;
|
||
|
|
class QtTreePropertyBrowser;
|
||
|
|
|
||
|
|
/// \brief A test class for the ModelListWidget.
|
||
|
|
class ModelListWidget_TEST : public QTestFixture
|
||
|
|
{
|
||
|
|
Q_OBJECT
|
||
|
|
|
||
|
|
/// \brief Response message received
|
||
|
|
/// \brief _msg Message containing the response data
|
||
|
|
private: void OnResponse(ConstResponsePtr &_msg);
|
||
|
|
|
||
|
|
/// \brief Verify vector3 attributes and values.
|
||
|
|
/// \param[in] _properties Vector3 properties.
|
||
|
|
/// \param[in] _xyz Expected vector3 values.
|
||
|
|
private: void CheckVector3Property(QList<QtProperty *> _properties,
|
||
|
|
const ignition::math::Vector3d &_xyz);
|
||
|
|
|
||
|
|
/// \brief Verify pose attributes and values.
|
||
|
|
/// \param[in] _properties Pose properties.
|
||
|
|
/// \param[in] _pose Expected pose values.
|
||
|
|
private: void CheckPoseProperty(QList<QtProperty *> _properties,
|
||
|
|
const gazebo::math::Pose &_pose);
|
||
|
|
|
||
|
|
/// \brief Set vector3 values.
|
||
|
|
/// \param[in] _propTreeBrowser Property browser.
|
||
|
|
/// \param[in] _properties Vector3 properties.
|
||
|
|
/// \param[in] _xyz Expected vector3 values.
|
||
|
|
private: void SetVector3Property(QtTreePropertyBrowser *propTreeBrowser,
|
||
|
|
QList<QtProperty *> _properties,
|
||
|
|
const ignition::math::Vector3d &_xyz);
|
||
|
|
|
||
|
|
/// \brief Set pose values.
|
||
|
|
/// \param[in] _propTreeBrowser Property browser.
|
||
|
|
/// \param[in] _properties Pose properties.
|
||
|
|
/// \param[in] _pose Expected pose values.
|
||
|
|
private: void SetPoseProperty(QtTreePropertyBrowser *propTreeBrowser,
|
||
|
|
QList<QtProperty *> _properties,
|
||
|
|
const gazebo::math::Pose &_pose);
|
||
|
|
|
||
|
|
/// \brief Test link property attributes and values.
|
||
|
|
/// \param[in] _name Name of link.
|
||
|
|
/// \param[in] _selfCollide True if links in model self collide.
|
||
|
|
/// \param[in] _gravity True if gravity is enabled for this link.
|
||
|
|
/// \param[in] _kinematic True if the link is in kinematic mode.
|
||
|
|
/// \param[in] _canonical True if this is a canonical link.
|
||
|
|
/// \param[in] _pose Expected pose values.
|
||
|
|
private: void CheckLinkProperty(QList<QtProperty *> _properties,
|
||
|
|
const std::string &_name, bool _selfCollide, bool _gravity, bool _kinematic,
|
||
|
|
bool _canonical, const gazebo::math::Pose &_pose);
|
||
|
|
|
||
|
|
/// \brief Set link property values.
|
||
|
|
/// \param[in] _propTreeBrowser Property browser.
|
||
|
|
/// \param[in] _properties Link properties.
|
||
|
|
/// \param[in] _name Name of link.
|
||
|
|
/// \param[in] _selfCollide New self collide value.
|
||
|
|
/// \param[in] _gravity New gravity value.
|
||
|
|
/// \param[in] _kinematic New kinematic value.
|
||
|
|
/// \param[in] _canonical True if this is a canonical link and the pose
|
||
|
|
/// should not be set.
|
||
|
|
/// \param[in] _pose New pose values.
|
||
|
|
private: void SetLinkProperty(QtTreePropertyBrowser *propTreeBrowser,
|
||
|
|
QList<QtProperty *> _properties, const std::string &_name,
|
||
|
|
bool _selfCollide, bool _gravity, bool _kinematic, bool _canonical,
|
||
|
|
const gazebo::math::Pose &_pose);
|
||
|
|
|
||
|
|
/// \brief Test to see the tree widget has correct items.
|
||
|
|
private slots: void TreeWidget();
|
||
|
|
|
||
|
|
/// \brief Test that the model widget item contains all models in the world.
|
||
|
|
private slots: void ModelsTree();
|
||
|
|
|
||
|
|
/// \brief Test that the property browser displays correct model properties.
|
||
|
|
/// The test then modifies the properties, refresh the property browser, and
|
||
|
|
/// verify the changes are set.
|
||
|
|
private slots: void ModelProperties();
|
||
|
|
|
||
|
|
/// \brief Test that the property browser displays correct link properties.
|
||
|
|
/// This is similar to the ModelProperties test except the property browser
|
||
|
|
/// now only displays link properties as the result of directly clicking on
|
||
|
|
/// the link item in the models tree widget.
|
||
|
|
private slots: void LinkProperties();
|
||
|
|
|
||
|
|
/// \brief Test that the property browser displays correct physics properties
|
||
|
|
/// and allows modification of physics properties.
|
||
|
|
private slots: void PhysicsProperties();
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|