261 lines
8.5 KiB
C++
261 lines
8.5 KiB
C++
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/*
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* Copyright 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 <gtest/gtest.h>
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#include "sdf/sdf.hh"
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#include "sdf/Converter.hh"
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#include "test_config.h"
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const std::string CONVERT_DOC =
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std::string(PROJECT_SOURCE_PATH) + "/sdf/1.6/1_5.convert";
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/////////////////////////////////////////////////
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/// Test conversion of imu in 1.5 to 1.6
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TEST(ConverterIntegration, IMU_15_to_16)
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{
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// The imu noise in 1.5 format
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std::string xmlString = R"(
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<model name="box_old_imu_noise">
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<link name="link">
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<sensor name='imu_sensor' type='imu'>
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<imu>
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<noise>
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<type>gaussian</type>
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<rate>
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</rate>
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<accel>
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<mean>0</mean>
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<stddev>0.017</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</accel>
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</noise>
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</imu>
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</sensor>
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</link>
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</model>
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</world>
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</sdf>)";
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TiXmlDocument xmlDoc;
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xmlDoc.Parse(xmlString.c_str());
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// Convert
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TiXmlDocument convertXmlDoc;
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convertXmlDoc.LoadFile(CONVERT_DOC);
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sdf::Converter::Convert(&xmlDoc, &convertXmlDoc);
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// Check some basic elements
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TiXmlElement *convertedElem = xmlDoc.FirstChildElement();
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EXPECT_EQ(convertedElem->ValueStr(), "sdf");
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convertedElem = convertedElem->FirstChildElement();
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EXPECT_EQ(convertedElem->ValueStr(), "world");
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convertedElem = convertedElem->FirstChildElement();
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EXPECT_EQ(convertedElem->ValueStr(), "model");
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convertedElem = convertedElem->FirstChildElement();
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EXPECT_EQ(convertedElem->ValueStr(), "link");
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convertedElem = convertedElem->FirstChildElement();
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EXPECT_EQ(convertedElem->ValueStr(), "sensor");
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// Get the imu
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TiXmlElement *imuElem = convertedElem->FirstChildElement();
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EXPECT_EQ(imuElem->ValueStr(), "imu");
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// Get the angular_velocity
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TiXmlElement *angVelElem = imuElem->FirstChildElement();
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EXPECT_EQ(angVelElem->ValueStr(), "angular_velocity");
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// Get the linear_acceleration
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TiXmlElement *linAccElem = angVelElem->NextSiblingElement();
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EXPECT_EQ(linAccElem->ValueStr(), "linear_acceleration");
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std::array<char, 3> axis = {'x', 'y', 'z'};
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TiXmlElement *angVelAxisElem = angVelElem->FirstChildElement();
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TiXmlElement *linAccAxisElem = linAccElem->FirstChildElement();
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// Iterate over <x>, <y>, and <z> elements under <angular_velocity> and
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// <linear_acceleration>
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for (auto const &a : axis)
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{
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EXPECT_EQ(angVelAxisElem->Value()[0], a);
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EXPECT_EQ(linAccAxisElem->Value()[0], a);
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TiXmlElement *angVelAxisNoiseElem = angVelAxisElem->FirstChildElement();
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TiXmlElement *linAccAxisNoiseElem = linAccAxisElem->FirstChildElement();
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EXPECT_EQ(angVelAxisNoiseElem->ValueStr(), "noise");
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EXPECT_EQ(linAccAxisNoiseElem->ValueStr(), "noise");
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EXPECT_STREQ(angVelAxisNoiseElem->Attribute("type"), "gaussian");
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EXPECT_STREQ(linAccAxisNoiseElem->Attribute("type"), "gaussian");
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EXPECT_STREQ(angVelAxisNoiseElem->FirstChildElement("mean")->GetText(),
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"0");
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EXPECT_STREQ(linAccAxisNoiseElem->FirstChildElement("mean")->GetText(),
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"0");
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EXPECT_STREQ(angVelAxisNoiseElem->FirstChildElement("stddev")->GetText(),
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"0.0002");
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EXPECT_STREQ(linAccAxisNoiseElem->FirstChildElement("stddev")->GetText(),
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"0.017");
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EXPECT_STREQ(angVelAxisNoiseElem->FirstChildElement("bias_mean")->GetText(),
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"7.5e-06");
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EXPECT_STREQ(linAccAxisNoiseElem->FirstChildElement("bias_mean")->GetText(),
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"0.1");
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EXPECT_STREQ(angVelAxisNoiseElem->FirstChildElement(
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"bias_stddev")->GetText(), "8e-07");
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EXPECT_STREQ(linAccAxisNoiseElem->FirstChildElement(
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"bias_stddev")->GetText(), "0.001");
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angVelAxisElem = angVelAxisElem->NextSiblingElement();
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linAccAxisElem = linAccAxisElem->NextSiblingElement();
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}
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}
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/////////////////////////////////////////////////
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/// Test conversion using the parser sdf file converter interface.
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TEST(ConverterIntegration, ParserFileConverter)
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{
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std::string filename = std::string(PROJECT_SOURCE_PATH) +
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"/test/integration/audio.sdf";
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sdf::SDFPtr sdf(new sdf::SDF());
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sdf::init(sdf);
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EXPECT_TRUE(sdf::convertFile(filename, "1.6", sdf));
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sdf::ElementPtr rootElem = sdf->Root();
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ASSERT_TRUE(rootElem != NULL);
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EXPECT_EQ(rootElem->Get<std::string>("version"), "1.6");
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sdf::ElementPtr modelElem = rootElem->GetElement("model");
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ASSERT_TRUE(modelElem != NULL);
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EXPECT_EQ(modelElem->Get<std::string>("name"), "full_audio_parameters");
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sdf::ElementPtr linkElem = modelElem->GetElement("link");
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ASSERT_TRUE(linkElem != NULL);
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EXPECT_EQ(linkElem->Get<std::string>("name"), "link");
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sdf::ElementPtr collElem = linkElem->GetElement("collision");
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ASSERT_TRUE(collElem != NULL);
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EXPECT_EQ(collElem->Get<std::string>("name"), "collision");
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sdf::ElementPtr sinkElem = linkElem->GetElement("audio_sink");
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ASSERT_TRUE(sinkElem != NULL);
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sdf::ElementPtr sourceElem = linkElem->GetElement("audio_source");
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ASSERT_TRUE(sourceElem != NULL);
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}
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/////////////////////////////////////////////////
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/// Test conversion using the parser sdf string converter interface.
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TEST(ConverterIntegration, ParserStringConverter)
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{
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// The gravity and magnetic_field in 1.5 format
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std::string xmlString = R"(
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<physics type="ode">
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>1 2 3</magnetic_field>
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</physics>
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</world>
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</sdf>)";
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sdf::SDFPtr sdf(new sdf::SDF());
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sdf::init(sdf);
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EXPECT_TRUE(sdf::convertString(xmlString, "1.6", sdf));
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ASSERT_TRUE(sdf->Root() != NULL);
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EXPECT_EQ(sdf->Root()->GetName(), "sdf");
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sdf::ElementPtr worldElem = sdf->Root()->GetElement("world");
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ASSERT_TRUE(worldElem != NULL);
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EXPECT_EQ(worldElem->Get<std::string>("name"), "default");
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sdf::ElementPtr physicsElem = worldElem->GetElement("physics");
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ASSERT_TRUE(physicsElem != NULL);
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EXPECT_EQ(physicsElem->Get<std::string>("name"), "default_physics");
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EXPECT_EQ(physicsElem->Get<std::string>("type"), "ode");
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sdf::ElementPtr gravityElem = worldElem->GetElement("gravity");
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ASSERT_TRUE(gravityElem != NULL);
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EXPECT_EQ(gravityElem->Get<ignition::math::Vector3d>(),
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ignition::math::Vector3d(0, 0, -9.8));
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sdf::ElementPtr magElem = worldElem->GetElement("magnetic_field");
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ASSERT_TRUE(magElem != NULL);
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EXPECT_EQ(magElem->Get<ignition::math::Vector3d>(),
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ignition::math::Vector3d(1, 2, 3));
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}
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/////////////////////////////////////////////////
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/// Test conversion of gravity, magnetic_field in 1.5 to 1.6
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TEST(ConverterIntegration, World_15_to_16)
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{
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// The gravity and magnetic_field in 1.5 format
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std::string xmlString = R"(
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<physics type="ode">
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>1 2 3</magnetic_field>
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</physics>
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</world>
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</sdf>)";
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TiXmlDocument xmlDoc;
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xmlDoc.Parse(xmlString.c_str());
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// Convert
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TiXmlDocument convertXmlDoc;
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convertXmlDoc.LoadFile(CONVERT_DOC);
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sdf::Converter::Convert(&xmlDoc, &convertXmlDoc);
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// Check some basic elements
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TiXmlElement *convertedElem = xmlDoc.FirstChildElement();
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EXPECT_EQ(convertedElem->ValueStr(), "sdf");
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convertedElem = convertedElem->FirstChildElement();
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EXPECT_EQ(convertedElem->ValueStr(), "world");
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convertedElem = convertedElem->FirstChildElement();
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EXPECT_EQ(convertedElem->ValueStr(), "physics");
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// Get the gravity
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TiXmlElement *gravityElem = convertedElem->NextSiblingElement("gravity");
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ASSERT_TRUE(gravityElem != NULL);
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EXPECT_STREQ(gravityElem->GetText(), "0 0 -9.8");
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// Get the magnetic_field
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TiXmlElement *magneticFieldElem =
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convertedElem->NextSiblingElement("magnetic_field");
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ASSERT_TRUE(magneticFieldElem != NULL);
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EXPECT_STREQ(magneticFieldElem->GetText(), "1 2 3");
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}
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