105 lines
3.3 KiB
C++
105 lines
3.3 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 <gtest/gtest.h>
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#include "gazebo/physics/physics.hh"
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#include "gazebo/physics/Inertial.hh"
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#include "test/util.hh"
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#define TOL 1e-6
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using namespace gazebo;
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class Inertial_TEST : public gazebo::testing::AutoLogFixture { };
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////////////////////////////////////////////////////////////////////////
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// Test basic Inertial functions
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////////////////////////////////////////////////////////////////////////
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TEST_F(Inertial_TEST, InertialOperators)
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{
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physics::Inertial i1;
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physics::Inertial i2;
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i1.SetMass(1.0);
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i2.SetMass(2.0);
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i1.SetCoG(math::Pose(0, 0, 0, 0, 0, 0));
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i2.SetCoG(math::Pose(0, 0, 1, 0, 0, 0));
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i1.SetIXX(0.1);
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i1.SetIYY(0.2);
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i1.SetIZZ(0.3);
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i1.SetIXY(0.0);
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i1.SetIXZ(0.0);
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i1.SetIYZ(0.0);
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i2.SetMOI(math::Matrix3(1, 0, 0,
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0, 2, 0,
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0, 0, 3));
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// Test addition
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physics::Inertial isum = i1 + i2;
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gzdbg << "isum: \n"
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<< isum << "\n";
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gzdbg << "i1 new cg: \n"
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<< i1.GetMOI(isum.GetPose()) << "\n";
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gzdbg << "i2 new cg: \n"
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<< i2.GetMOI(isum.GetPose()) << "\n";
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EXPECT_NEAR(isum.GetPose().pos.z, 2.0/3.0, TOL);
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EXPECT_NEAR(isum.GetIXX(),
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1.0 + 0.1 + 1.0*(2.0/3.0)*(2.0/3.0)
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+ 2.0*(1-2.0/3.0)*(1-2.0/3.0), TOL);
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EXPECT_NEAR(isum.GetIYY(),
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2.0 + 0.2 + 1.0*(2.0/3.0)*(2.0/3.0)
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+ 2.0*(1-2.0/3.0)*(1-2.0/3.0), TOL);
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EXPECT_NEAR(isum.GetIZZ(), 3.0 + 0.3, TOL);
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// Test GetInertial(offset)
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physics::Inertial i1Offset = i1.GetInertial(math::Pose(0, 0, 0, 0, 0, 0));
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EXPECT_TRUE(i1.GetMOI() == i1Offset.GetMOI());
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EXPECT_TRUE(i1.GetPose() == i1Offset.GetPose());
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i1Offset = i1.GetInertial(math::Pose(1, 0, 0, 0, 0, 0));
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EXPECT_TRUE(i1.GetMOI(math::Pose(1, 0, 0, 0, 0, 0)) == i1Offset.GetMOI());
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gzdbg << i1.GetPose() << " : " << i1Offset.GetPose() << "\n";
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EXPECT_TRUE(i1.GetPose() == math::Pose(1, 0, 0, 0, 0, 0)+i1Offset.GetPose());
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// Test GetMOI
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math::Matrix3 i11 = i1.GetMOI(math::Pose(1, 0, 0, 0, 0, 0));
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EXPECT_NEAR(i11[2][2], 1.3, TOL);
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gzdbg << "i11:\n" << i11 << "\n";
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// Get i2 from origin of link
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physics::Inertial i3;
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i3.SetMOI(i2.GetMOI(math::Pose()));
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EXPECT_NEAR(i3.GetIXX(), 1 + 2, TOL);
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EXPECT_NEAR(i3.GetIYY(), 2 + 2, TOL);
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EXPECT_NEAR(i3.GetIZZ(), 3, TOL);
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gzdbg << "i2:\n" << i2 << "\n";
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gzdbg << "R:\n" << math::Quaternion(0, 0, 0.5*M_PI).GetAsMatrix3() << "\n";
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gzdbg << "I:\n" << i2.GetMOI() << "\n";
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i2.SetMOI(i2.GetMOI(math::Pose(0, 0, 1, 0, 0, 0.5*M_PI)));
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gzdbg << "i2:\n" << i2 << "\n";
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EXPECT_NEAR(i2.GetIXX(), 2, TOL);
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EXPECT_NEAR(i2.GetIYY(), 1, TOL);
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EXPECT_NEAR(i2.GetIZZ(), 3, TOL);
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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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