90 lines
2.6 KiB
C++
90 lines
2.6 KiB
C++
/*
|
|
* Copyright (C) 2015 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#include "gazebo/test/ServerFixture.hh"
|
|
#include "test/util.hh"
|
|
#include "gazebo/physics/PhysicsTypes.hh"
|
|
#include "gazebo/physics/Model.hh"
|
|
|
|
using namespace gazebo;
|
|
|
|
class ModelTest : public ServerFixture { };
|
|
|
|
//////////////////////////////////////////////////
|
|
TEST_F(ModelTest, Scale)
|
|
{
|
|
// Load a world
|
|
this->Load("worlds/empty.world", true);
|
|
auto world = physics::get_world("default");
|
|
|
|
// Create a base to be the model's parent
|
|
physics::BasePtr basePtr;
|
|
basePtr.reset(new physics::Base(physics::BasePtr()));
|
|
basePtr->SetName("world_root_element");
|
|
basePtr->SetWorld(world);
|
|
|
|
// Create the model
|
|
physics::ModelPtr modelPtr(new physics::Model(basePtr));
|
|
EXPECT_TRUE(modelPtr != NULL);
|
|
|
|
// Check default scale
|
|
EXPECT_EQ(modelPtr->Scale(), ignition::math::Vector3d(1, 1, 1));
|
|
|
|
// Set scale
|
|
ignition::math::Vector3d scale(0.5, 2, 3);
|
|
modelPtr->SetScale(scale);
|
|
|
|
// Check scale
|
|
EXPECT_EQ(modelPtr->Scale(), scale);
|
|
|
|
// Cleanup
|
|
modelPtr.reset();
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
TEST_F(ModelTest, NestedModelSensorScopedName)
|
|
{
|
|
this->Load("test/worlds/deeply_nested_models.world", true);
|
|
|
|
auto world = physics::get_world("default");
|
|
ASSERT_TRUE(world != nullptr);
|
|
|
|
auto model = world->GetModel("model_03");
|
|
ASSERT_TRUE(model != nullptr);
|
|
|
|
gzmsg << "Get a scoped sensor name" << std::endl;
|
|
|
|
const std::vector<std::string> imuScopedName =
|
|
model->SensorScopedName("imu_sensor");
|
|
ASSERT_EQ(imuScopedName.size(), static_cast<unsigned int>(1));
|
|
EXPECT_EQ(imuScopedName[0],
|
|
"default::model_00::model_01::model_02::model_03::imu_link::imu_sensor");
|
|
|
|
gzmsg << "Get a nonexistent scoped sensor name" << std::endl;
|
|
|
|
const std::vector<std::string> noScopedName =
|
|
model->SensorScopedName("no_sensor");
|
|
ASSERT_EQ(noScopedName.size(), static_cast<unsigned int>(0));
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
int main(int argc, char **argv)
|
|
{
|
|
::testing::InitGoogleTest(&argc, argv);
|
|
return RUN_ALL_TESTS();
|
|
}
|