pxmlw6n2f/Gazebo_Distributed_TCP/test/integration/road.cc

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2019-03-28 10:57:49 +08:00
/*
* 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.
*
*/
#include <map>
#include <string>
#include <vector>
#include "gazebo/test/ServerFixture.hh"
#include "gazebo/physics/physics.hh"
#include "SimplePendulumIntegrator.hh"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/test/helper_physics_generator.hh"
#define PHYSICS_TOL 1e-2
using namespace gazebo;
class RoadTextureTest : public ServerFixture
{
public: void TexturedWorld();
};
void RoadTextureTest::TexturedWorld()
{
// Load the sample world
Load("worlds/road_textures.world");
physics::WorldPtr world = physics::get_world("default");
ASSERT_TRUE(world != NULL);
// simulate 1 step
world->Step(1);
double t = world->GetSimTime().Double();
// verify that time moves forward
EXPECT_GT(t, 0);
// simulate a few steps
int steps = 20;
world->Step(steps);
double dt = world->GetPhysicsEngine()->GetMaxStepSize();
EXPECT_GT(dt, 0);
t = world->GetSimTime().Double();
EXPECT_GT(t, 0.99*dt*static_cast<double>(steps+1));
}
TEST_F(RoadTextureTest, TexturedWorld)
{
TexturedWorld();
}
int main(int argc, char **argv)
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}