78 lines
2.4 KiB
C++
78 lines
2.4 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/sensors/SensorsIface.hh"
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class GzCamera : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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// \brief Test the at camera follow (gz camera -f <model> -c <camera>) moves
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// the camera
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TEST_F(GzCamera, Follow)
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{
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Load("worlds/empty_test.world");
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// Get a pointer to the world
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// Spawn a box to follow.
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SpawnBox("box", math::Vector3(1, 1, 1), math::Vector3(10, 10, 1),
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math::Vector3(0, 0, 0));
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ignition::math::Pose3d cameraStartPose(0, 0, 0, 0, 0, 0);
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// Spawn a camera that will do the following
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SpawnCamera("test_camera_model", "test_camera",
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cameraStartPose.Pos(), cameraStartPose.Rot().Euler());
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sensors::SensorPtr sensor = sensors::get_sensor("test_camera");
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ASSERT_TRUE(sensor != NULL);
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sensors::CameraSensorPtr camSensor =
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std::dynamic_pointer_cast<sensors::CameraSensor>(sensor);
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EXPECT_TRUE(camSensor != NULL);
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rendering::CameraPtr camera = camSensor->Camera();
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ASSERT_TRUE(camera != NULL);
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// Make sure the sensor is at the correct initial pose
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EXPECT_EQ(camera->WorldPose(), cameraStartPose);
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SetPause(true);
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// Tell the camera to follow the box. The camera should move toward the
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// box.
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custom_exec("gz camera -c test_camera_model::body::test_camera -f box");
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world->Step(5000);
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// Make sure the camera is not at the initial pose.
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EXPECT_TRUE(camera->WorldPose() != cameraStartPose);
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EXPECT_NEAR(camera->WorldPose().Pos().X(), 9.9, 0.1);
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EXPECT_NEAR(camera->WorldPose().Pos().Y(), 9.9, 0.1);
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}
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/////////////////////////////////////////////////
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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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