95 lines
2.8 KiB
C++
95 lines
2.8 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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#include "gazebo/test/helper_physics_generator.hh"
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#include "test/integration/joint_test.hh"
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using namespace gazebo;
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class Issue978Test : public JointTest
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{
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public: void JointAnchor(const std::string &_physicsEngine);
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};
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/////////////////////////////////////////////////
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// \brief Test for issue #978
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void Issue978Test::JointAnchor(const std::string &_physicsEngine)
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{
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// Abort test for simbody, since SimbodyJoint::GetAnchor isn't implemented
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if (_physicsEngine == "simbody")
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{
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gzerr << "Aborting test for Simbody, see issue #979.\n";
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return;
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}
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// Load an empty world
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Load("worlds/empty.world", true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// Verify physics engine type
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physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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ASSERT_TRUE(physics != NULL);
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EXPECT_EQ(physics->GetType(), _physicsEngine);
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std::string _jointType = "revolute";
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{
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gzdbg << "SpawnJoint " << _jointType << " child parent" << std::endl;
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SpawnJointOptions opt;
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opt.type = _jointType;
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opt.worldChild = false;
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opt.worldParent = false;
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opt.noLinkPose = true;
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opt.modelPose = math::Pose(1, 2, 3, 0, 0, 0);
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physics::JointPtr joint = SpawnJoint(opt);
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ASSERT_TRUE(joint != NULL);
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// Check child and parent links
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physics::LinkPtr child = joint->GetChild();
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physics::LinkPtr parent = joint->GetParent();
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ASSERT_TRUE(child != NULL);
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EXPECT_EQ(child->GetParentJoints().size(), 1u);
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EXPECT_EQ(child->GetChildJoints().size(), 0u);
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ASSERT_TRUE(parent != NULL);
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EXPECT_EQ(parent->GetChildJoints().size(), 1u);
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EXPECT_EQ(parent->GetParentJoints().size(), 0u);
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// Check anchor location
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EXPECT_EQ(joint->GetAnchor(0), opt.modelPose.pos);
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}
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}
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TEST_P(Issue978Test, JointAnchor)
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{
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JointAnchor(this->physicsEngine);
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}
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, Issue978Test,
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::testing::Combine(PHYSICS_ENGINE_VALUES,
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::testing::Values("")));
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/////////////////////////////////////////////////
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/// Main
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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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