90 lines
2.6 KiB
C++
90 lines
2.6 KiB
C++
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/*
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* Copyright (C) 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 axispliance 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/rendering/RenderingIface.hh"
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#include "gazebo/rendering/Scene.hh"
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#include "gazebo/rendering/LinkFrameVisual.hh"
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class LinkFrameVisual_TEST : public RenderingFixture
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{
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};
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/////////////////////////////////////////////////
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TEST_F(LinkFrameVisual_TEST, LinkFrameTest)
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{
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Load("worlds/empty.world");
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gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene("default");
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if (!scene)
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scene = gazebo::rendering::create_scene("default", false);
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EXPECT_TRUE(scene != NULL);
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// create a link visual
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gazebo::rendering::VisualPtr linkVis;
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linkVis.reset(
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new gazebo::rendering::Visual("link", scene->WorldVisual()));
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// create frame visual for the link
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gazebo::rendering::LinkFrameVisualPtr linkFrameVis(
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new gazebo::rendering::LinkFrameVisual("_LINK_FRAME_VISUAL_",
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linkVis));
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linkFrameVis->Load();
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// Check that it was added to the scene (by Load)
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EXPECT_EQ(scene->GetVisual("_LINK_FRAME_VISUAL_"), linkFrameVis);
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// Check that it has type physics
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EXPECT_EQ(linkFrameVis->GetType(), gazebo::rendering::Visual::VT_PHYSICS);
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// Check that the link visual is the parent
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EXPECT_EQ(linkFrameVis->GetParent(), linkVis);
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// Check that the pose within the link visual (local pose) is zero
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EXPECT_EQ(linkFrameVis->GetPose(), gazebo::math::Pose::Zero);
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// Check that frame is not highlighted
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EXPECT_FALSE(linkFrameVis->GetHighlighted());
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// Set highlighted
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linkFrameVis->SetHighlighted(true);
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// Check that frame is highlighted
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EXPECT_TRUE(linkFrameVis->GetHighlighted());
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// Remove it from the scene (Fini is called)
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scene->RemoveVisual(linkFrameVis);
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// Check that it was removed
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EXPECT_TRUE(scene->GetVisual("_LINK_FRAME_VISUAL_") == NULL);
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// Reset pointer
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linkFrameVis.reset();
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EXPECT_TRUE(linkFrameVis == NULL);
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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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