130 lines
4.5 KiB
C++
130 lines
4.5 KiB
C++
/*
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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/ode/ODETypes.hh"
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#include "gazebo/physics/ode/ODEJoint.hh"
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#include "gazebo/physics/physics.hh"
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#include "gazebo/test/ServerFixture.hh"
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#define TOL 1e-6
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using namespace gazebo;
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class ODEJoint_TEST : public ServerFixture
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{
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};
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////////////////////////////////////////////////////////////////////////
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// Test multi-axis universal joints
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// with implicit (cfm) damping
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////////////////////////////////////////////////////////////////////////
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TEST_F(ODEJoint_TEST, ImplicitDamping)
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{
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// Load our force torque test world
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Load("worlds/implicit_damping_test.world", true);
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// Get a pointer to the world, make sure world loads
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// Verify physics engine type
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physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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ASSERT_TRUE(physics != NULL);
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EXPECT_EQ(physics->GetType(), "ode");
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physics->SetGravity(math::Vector3(0, 0, -50));
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// simulate 1 step
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world->Step(1);
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double t = world->GetSimTime().Double();
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// get time step size
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double dt = world->GetPhysicsEngine()->GetMaxStepSize();
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EXPECT_GT(dt, 0);
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gzdbg << "dt : " << dt << "\n";
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// verify that time moves forward
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EXPECT_GT(t, 0);
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gzdbg << "t after one step : " << t << "\n";
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// get joint and get force torque
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physics::ModelPtr model_1 = world->GetModel("model_1");
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physics::JointPtr joint_0 = model_1->GetJoint("joint_0");
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physics::JointPtr joint_1 = model_1->GetJoint("joint_1");
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EXPECT_TRUE(boost::dynamic_pointer_cast<physics::ODEJoint>(joint_0)->
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UsesImplicitSpringDamper());
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EXPECT_TRUE(boost::dynamic_pointer_cast<physics::ODEJoint>(joint_1)->
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UsesImplicitSpringDamper());
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// Test for UseImplicitSpringDamper setting method
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// toggle flag to false then back to true
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{
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physics::ODEJointPtr joint =
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boost::dynamic_pointer_cast<physics::ODEJoint>(joint_0);
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joint->UseImplicitSpringDamper(false);
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EXPECT_FALSE(joint->UsesImplicitSpringDamper());
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joint->UseImplicitSpringDamper(true);
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EXPECT_TRUE(joint->UsesImplicitSpringDamper());
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}
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gzdbg << "-------------------Test 1 (y)-------------------\n";
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physics->SetGravity(math::Vector3(0, 10, 0));
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world->Step(100);
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EXPECT_NEAR(joint_0->GetAngle(0).Radian(), 0.0, 1e-6);
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EXPECT_NEAR(joint_1->GetAngle(0).Radian(), 0.0048295899143964149, 1e-5);
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EXPECT_NEAR(joint_1->GetAngle(1).Radian(), 0.0, 1e-6);
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gzdbg << "time [" << world->GetSimTime().Double()
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<< "] j0 [" << joint_0->GetAngle(0).Radian()
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<< "] j1(0) [" << joint_1->GetAngle(0).Radian()
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<< "] j1(1) [" << joint_1->GetAngle(1).Radian()
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<< "]\n";
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gzdbg << "-------------------Test 2 (x)-------------------\n";
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physics->SetGravity(math::Vector3(10, 0, 0));
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world->Step(100);
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EXPECT_NEAR(joint_0->GetAngle(0).Radian(), 0.0, 1e-6);
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EXPECT_NEAR(joint_1->GetAngle(0).Radian(), 0.0050046318305403403, 1e-5);
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// The following expectation fails
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// EXPECT_NEAR(joint_1->GetAngle(1).Radian(), -0.0048293115636619532, 1e-5);
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gzdbg << "time [" << world->GetSimTime().Double()
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<< "] j0 [" << joint_0->GetAngle(0).Radian()
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<< "] j1(0) [" << joint_1->GetAngle(0).Radian()
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<< "] j1(1) [" << joint_1->GetAngle(1).Radian()
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<< "]\n";
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gzdbg << "-------------------Test 3 (joint limit)-------------------\n";
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physics->SetGravity(math::Vector3(1000, 1000, 0));
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world->Step(1000);
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EXPECT_NEAR(joint_0->GetAngle(0).Radian(), 0.0, 0.001);
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EXPECT_NEAR(joint_1->GetAngle(0).Radian(), 0.7, 0.001);
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EXPECT_NEAR(joint_1->GetAngle(1).Radian(), -0.7, 0.001);
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gzdbg << "time [" << world->GetSimTime().Double()
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<< "] j0 [" << joint_0->GetAngle(0).Radian()
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<< "] j1(0) [" << joint_1->GetAngle(0).Radian()
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<< "] j1(1) [" << joint_1->GetAngle(1).Radian()
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<< "]\n";
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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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