72 lines
2.0 KiB
C++
72 lines
2.0 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 "gazebo/test/ServerFixture.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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using namespace gazebo;
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class SpeedPR2Test : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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public: void PR2World(const std::string &_physicsEngine);
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};
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void SpeedPR2Test::PR2World(const std::string &_physicsEngine)
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{
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if (_physicsEngine == "dart")
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{
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gzerr << "Abort test since dart does not support ray sensor in PR2, "
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<< "Please see issue #911.\n";
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return;
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}
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Load("worlds/empty.world", false, _physicsEngine);
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double emptySpeed;
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while ((emptySpeed = GetPercentRealTime()) == 0)
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common::Time::MSleep(100);
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common::Time::MSleep(2000);
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emptySpeed = GetPercentRealTime();
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// Load the pr2into the world
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SpawnModel("model://pr2");
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common::Time::MSleep(2000);
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double loadedSpeed = GetPercentRealTime();
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double speedRatio = loadedSpeed / emptySpeed;
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std::cout << "Speed: Empty[" << emptySpeed << "] Loaded["
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<< loadedSpeed << "] Ratio[" << speedRatio << "]\n";
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#ifdef BUILD_TYPE_RELEASE
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EXPECT_GT(speedRatio, 0.5);
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#else
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EXPECT_GT(speedRatio, 0.3);
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#endif
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}
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TEST_P(SpeedPR2Test, PR2World)
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{
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PR2World(GetParam());
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}
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, SpeedPR2Test, 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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