94 lines
2.7 KiB
C++
94 lines
2.7 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/math/Rand.hh"
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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/GpuLaser.hh"
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class GpuLaser_TEST : public RenderingFixture
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{
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};
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/////////////////////////////////////////////////
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// //
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// bring up a GpuLaser and exercise API //
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// //
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/////////////////////////////////////////////////
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TEST_F(GpuLaser_TEST, BasicGpuLaserAPITest)
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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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gazebo::rendering::GpuLaserPtr laserCam =
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scene->CreateGpuLaser("test_laser", false);
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EXPECT_TRUE(laserCam != NULL);
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// The following tests all the getters and setters
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{
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laserCam->SetNearClip(0.1);
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EXPECT_NEAR(laserCam->NearClip(), 0.1, 1e-6);
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laserCam->SetFarClip(100.0);
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EXPECT_NEAR(laserCam->FarClip(), 100, 1e-6);
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laserCam->SetHorzHalfAngle(1.2);
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EXPECT_NEAR(laserCam->HorzHalfAngle(), 1.2, 1e-6);
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laserCam->SetVertHalfAngle(0.5);
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EXPECT_NEAR(laserCam->VertHalfAngle(), 0.5, 1e-6);
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laserCam->SetIsHorizontal(false);
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EXPECT_FALSE(laserCam->IsHorizontal());
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laserCam->SetHorzFOV(2.4);
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EXPECT_NEAR(laserCam->HorzFOV(), 2.4, 1e-6);
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laserCam->SetVertFOV(1.0);
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EXPECT_NEAR(laserCam->VertFOV(), 1.0, 1e-6);
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laserCam->SetCosHorzFOV(0.2);
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EXPECT_NEAR(laserCam->CosHorzFOV(), 0.2, 1e-6);
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laserCam->SetCosVertFOV(0.1);
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EXPECT_NEAR(laserCam->CosVertFOV(), 0.1, 1e-6);
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laserCam->SetRayCountRatio(0.344);
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EXPECT_NEAR(laserCam->RayCountRatio(), 0.344, 1e-6);
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laserCam->SetCameraCount(4u);
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EXPECT_EQ(laserCam->CameraCount(), 4u);
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}
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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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