126 lines
3.7 KiB
C++
126 lines
3.7 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/test/ServerFixture.hh"
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using namespace gazebo;
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class GpsSensor_TEST : public ServerFixture
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{
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};
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static std::string gpsSensorString =
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"<sdf version='1.4'>"
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" <sensor name='gps' type='gps'>"
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" <always_on>1</always_on>"
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" <update_rate>10.000000</update_rate>"
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" <gps>"
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" <position_sensing>"
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" <horizontal>"
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" <noise type='gaussian_quantized'>"
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" <mean>0</mean>"
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" <stddev>1</stddev>"
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" <bias_mean>3</bias_mean>"
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" <bias_stddev>1</bias_stddev>"
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" <precision>0.5</precision>"
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" </noise>"
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" </horizontal>"
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" <vertical>"
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" <noise type='gaussian_quantized'>"
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" <mean>0</mean>"
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" <stddev>1</stddev>"
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" <bias_mean>3</bias_mean>"
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" <bias_stddev>1</bias_stddev>"
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" <precision>1.0</precision>"
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" </noise>"
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" </vertical>"
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" </position_sensing>"
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" <velocity_sensing>"
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" <horizontal>"
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" <noise type='gaussian_quantized'>"
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" <mean>0</mean>"
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" <stddev>0.1</stddev>"
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" <bias_mean>0.1</bias_mean>"
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" <bias_stddev>0.1</bias_stddev>"
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" <precision>0.1</precision>"
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" </noise>"
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" </horizontal>"
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" <vertical>"
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" <noise type='gaussian_quantized'>"
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" <mean>0</mean>"
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" <stddev>0.2</stddev>"
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" <bias_mean>0.2</bias_mean>"
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" <bias_stddev>0.2</bias_stddev>"
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" <precision>0.2</precision>"
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" </noise>"
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" </vertical>"
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" </velocity_sensing>"
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" </gps>"
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" </sensor>"
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"</sdf>";
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/////////////////////////////////////////////////
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/// \brief Test Creation of a Gps sensor
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TEST_F(GpsSensor_TEST, CreateGps)
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{
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Load("worlds/empty.world");
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sensors::SensorManager *mgr = sensors::SensorManager::Instance();
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sdf::ElementPtr sdf(new sdf::Element);
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sdf::initFile("sensor.sdf", sdf);
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sdf::readString(gpsSensorString, sdf);
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// Create the Ray sensor
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std::string sensorName = mgr->CreateSensor(sdf, "default",
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"ground_plane::link", 0);
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// Make sure the returned sensor name is correct
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EXPECT_EQ(sensorName, std::string("default::ground_plane::link::gps"));
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// Update the sensor manager so that it can process new sensors.
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mgr->Update();
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// Get a pointer to the gps sensor
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sensors::GpsSensorPtr sensor =
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std::dynamic_pointer_cast<sensors::GpsSensor>(
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mgr->GetSensor(sensorName));
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// Make sure the above dynamic cast worked.
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EXPECT_TRUE(sensor != NULL);
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EXPECT_DOUBLE_EQ(sensor->Latitude().Radian(), 0.0);
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EXPECT_DOUBLE_EQ(sensor->Longitude().Radian(), 0.0);
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EXPECT_DOUBLE_EQ(sensor->Altitude(), 0.0);
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EXPECT_DOUBLE_EQ(sensor->VelocityEast(), 0.0);
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EXPECT_DOUBLE_EQ(sensor->VelocityNorth(), 0.0);
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EXPECT_DOUBLE_EQ(sensor->VelocityUp(), 0.0);
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EXPECT_TRUE(sensor->IsActive());
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physics::WorldPtr world = physics::get_world();
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ASSERT_TRUE(world != NULL);
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world->Step(100);
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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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