90 lines
2.6 KiB
C++
90 lines
2.6 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "gazebo/test/ServerFixture.hh"
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#include "test/util.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/physics/Model.hh"
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using namespace gazebo;
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class ModelTest : public ServerFixture { };
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//////////////////////////////////////////////////
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TEST_F(ModelTest, Scale)
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{
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// Load a world
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this->Load("worlds/empty.world", true);
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auto world = physics::get_world("default");
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// Create a base to be the model's parent
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physics::BasePtr basePtr;
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basePtr.reset(new physics::Base(physics::BasePtr()));
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basePtr->SetName("world_root_element");
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basePtr->SetWorld(world);
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// Create the model
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physics::ModelPtr modelPtr(new physics::Model(basePtr));
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EXPECT_TRUE(modelPtr != NULL);
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// Check default scale
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EXPECT_EQ(modelPtr->Scale(), ignition::math::Vector3d(1, 1, 1));
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// Set scale
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ignition::math::Vector3d scale(0.5, 2, 3);
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modelPtr->SetScale(scale);
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// Check scale
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EXPECT_EQ(modelPtr->Scale(), scale);
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// Cleanup
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modelPtr.reset();
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}
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//////////////////////////////////////////////////
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TEST_F(ModelTest, NestedModelSensorScopedName)
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{
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this->Load("test/worlds/deeply_nested_models.world", true);
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auto world = physics::get_world("default");
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ASSERT_TRUE(world != nullptr);
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auto model = world->GetModel("model_03");
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ASSERT_TRUE(model != nullptr);
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gzmsg << "Get a scoped sensor name" << std::endl;
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const std::vector<std::string> imuScopedName =
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model->SensorScopedName("imu_sensor");
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ASSERT_EQ(imuScopedName.size(), static_cast<unsigned int>(1));
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EXPECT_EQ(imuScopedName[0],
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"default::model_00::model_01::model_02::model_03::imu_link::imu_sensor");
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gzmsg << "Get a nonexistent scoped sensor name" << std::endl;
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const std::vector<std::string> noScopedName =
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model->SensorScopedName("no_sensor");
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ASSERT_EQ(noScopedName.size(), static_cast<unsigned int>(0));
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}
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//////////////////////////////////////////////////
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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