102 lines
3.1 KiB
C++
102 lines
3.1 KiB
C++
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/*
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* Copyright (C) 2012 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 <map>
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#include <string>
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#include <vector>
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#include "gazebo/math/Pose.hh"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/math/Vector3Stats.hh"
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#include "gazebo/physics/physics.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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const double g_angle_y_tol = 0.21;
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const double g_angle_z_tol = 0.23;
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class PhysicsTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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public: void InertiaRatioPendulum(const std::string &_physicsEngine);
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};
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// Double pendulum with large inertia ratio and lateral gravity component
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void PhysicsTest::InertiaRatioPendulum(const std::string &_physicsEngine)
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{
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Load("worlds/inertia_ratio_pendulum.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 lateral gravity
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physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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math::Vector3 g = physics->GetGravity();
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EXPECT_EQ(g, math::Vector3(0.1, 0, -9.81));
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// get model
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physics::ModelPtr model = world->GetModel("inertia_ratio");
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ASSERT_TRUE(model != NULL);
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// get links
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physics::LinkPtr upperLink = model->GetLink("upper_link");
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physics::LinkPtr lowerLink = model->GetLink("lower_link");
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ASSERT_TRUE(upperLink != NULL);
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ASSERT_TRUE(lowerLink != NULL);
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math::Vector3Stats upperAngles;
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math::Vector3Stats lowerAngles;
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{
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const std::string statNames = "maxAbs";
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EXPECT_TRUE(upperAngles.InsertStatistics(statNames));
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EXPECT_TRUE(lowerAngles.InsertStatistics(statNames));
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}
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for (int i = 0; i < 3000; ++i)
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{
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world->Step(1);
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// Get statistics on link rotations
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upperAngles.InsertData(upperLink->GetWorldPose().rot.GetAsEuler());
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lowerAngles.InsertData(lowerLink->GetWorldPose().rot.GetAsEuler());
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}
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// Expect out of plane angles to fall within limits
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EXPECT_NEAR((upperAngles.Y().Map())["maxAbs"], 0.0, g_angle_y_tol);
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EXPECT_NEAR((upperAngles.Z().Map())["maxAbs"], 0.0, g_angle_z_tol);
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EXPECT_NEAR((lowerAngles.Y().Map())["maxAbs"], 0.0, g_angle_y_tol);
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EXPECT_NEAR((lowerAngles.Z().Map())["maxAbs"], 0.0, g_angle_z_tol);
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RecordProperty("engine", _physicsEngine);
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this->Record("lowerAngles", lowerAngles);
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this->Record("upperAngles", upperAngles);
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}
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TEST_P(PhysicsTest, InertiaRatioPendulum)
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{
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InertiaRatioPendulum(GetParam());
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}
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, PhysicsTest, PHYSICS_ENGINE_VALUES);
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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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