76 lines
1.8 KiB
C++
76 lines
1.8 KiB
C++
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/*
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* Copyright (C) 2013 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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using namespace gazebo;
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class GzWorld : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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// \brief Test world pause.
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TEST_F(GzWorld, Pause)
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{
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Load("worlds/empty_test.world");
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// Get a pointer to the world
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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EXPECT_FALSE(world->IsPaused());
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// Pause
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custom_exec("gz world -p 1");
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EXPECT_TRUE(world->IsPaused());
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// Run
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custom_exec("gz world -p 0");
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EXPECT_FALSE(world->IsPaused());
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}
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/////////////////////////////////////////////////
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// \brief Test world step.
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TEST_F(GzWorld, Step)
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{
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Load("worlds/empty_test.world", true);
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// Get a pointer to the world
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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EXPECT_TRUE(world->IsPaused());
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EXPECT_EQ(world->GetIterations(), 0u);
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// Step the world one iteration.
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custom_exec("gz world -s 1");
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EXPECT_EQ(world->GetIterations(), 1u);
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EXPECT_TRUE(world->IsPaused());
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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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