56 lines
1.6 KiB
C++
56 lines
1.6 KiB
C++
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/*
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* Copyright (C) 2014 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 <string.h>
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class SensorTest : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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// This tests getting links from a model.
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TEST_F(SensorTest, GetScopedName)
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{
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Load("worlds/camera_pose_test.world");
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sensors::SensorPtr sensor = sensors::get_sensor("cam1");
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ASSERT_TRUE(sensor != NULL);
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std::string sensorName = sensor->ScopedName();
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EXPECT_EQ(sensorName, std::string("default::rotated_box::link::cam1"));
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}
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/////////////////////////////////////////////////
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// Make sure sensors can run without asserting in a world with a large
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// step size.
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TEST_F(SensorTest, FastSensor)
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{
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Load("worlds/fast_sensor_test.world");
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// This test will cause an assertion if maxSensorUpdate in
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// SensorManager::SensorContainer::RunLoop() is set improperly
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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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