112 lines
3.6 KiB
C++
112 lines
3.6 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/msgs/msgs.hh"
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#include "gazebo/transport/TransportIface.hh"
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#include "gazebo/gui/Actions.hh"
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#include "gazebo/gui/GuiIface.hh"
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#include "gazebo/gui/MainWindow.hh"
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#include "gazebo/gui/UserCmdHistory.hh"
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#include "visual_pose.hh"
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#include "test_config.h"
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/////////////////////////////////////////////////
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void VisualPoseTest::VisualPose()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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this->Load("test/worlds/visual_pose.world", true, false, false);
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// Get world
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gazebo::physics::WorldPtr world = gazebo::physics::get_world("default");
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QVERIFY(world != NULL);
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// Create the main window.
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gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
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QVERIFY(mainWindow != NULL);
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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this->ProcessEventsAndDraw(mainWindow);
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// Get scene
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auto scene = gazebo::gui::get_active_camera()->GetScene();
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QVERIFY(scene != NULL);
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// Get box model visual (rendering)
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auto boxModelVis = scene->GetVisual("box");
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QVERIFY(boxModelVis != NULL);
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auto boxModelVisPose = boxModelVis->GetPose().Ign();
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// Get box link visual (rendering)
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auto boxLinkVis = scene->GetVisual("box::link");
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QVERIFY(boxLinkVis != NULL);
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auto boxLinkVisPose = boxLinkVis->GetPose().Ign();
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// Get box visual visual (rendering)
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auto boxVisualVis = scene->GetVisual("box::link::visual");
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QVERIFY(boxVisualVis != NULL);
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auto boxVisualVisPose = boxVisualVis->GetPose().Ign();
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// Get box model (physics)
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auto boxModel = world->GetModel("box");
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QVERIFY(boxModel != NULL);
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QVERIFY(boxModel->GetWorldPose().Ign() == boxModelVisPose);
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// Get box link (physics)
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auto boxLink = boxModel->GetLink("link");
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QVERIFY(boxLink != NULL);
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QVERIFY(boxLink->GetRelativePose().Ign() == boxLinkVisPose);
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// Get box visual id (physics)
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uint32_t boxVisualId;
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QVERIFY(boxLink->VisualId("visual", boxVisualId));
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QVERIFY(boxVisualId != 0u);
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// Get box visual pose (physics)
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ignition::math::Pose3d boxVisualPose;
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QVERIFY(boxLink->VisualPose(boxVisualId, boxVisualPose));
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QVERIFY(boxVisualPose == ignition::math::Pose3d(0, 2, 0, 0, 0, 0));
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// Set box visual pose (physics)
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ignition::math::Pose3d newVisualPose(1, -2, 3, -0.1, 0.2, -0.3);
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QVERIFY(boxLink->SetVisualPose(boxVisualId, newVisualPose));
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this->ProcessEventsAndDraw(mainWindow);
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// Check that only visual pose changed (physics)
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QVERIFY(boxLink->VisualPose(boxVisualId, boxVisualPose));
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QVERIFY(boxVisualPose == newVisualPose);
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QVERIFY(boxLinkVisPose == boxLink->GetRelativePose().Ign());
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QVERIFY(boxModelVisPose == boxModel->GetRelativePose().Ign());
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// Check that only visual pose changed (rendering)
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QVERIFY(newVisualPose == boxVisualVis->GetPose().Ign());
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QVERIFY(boxModelVisPose == boxModelVis->GetPose().Ign());
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QVERIFY(boxLinkVisPose == boxLinkVis->GetPose().Ign());
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// Clean up
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delete mainWindow;
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mainWindow = NULL;
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}
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// Generate a main function for the test
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QTEST_MAIN(VisualPoseTest)
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