375 lines
13 KiB
C++
375 lines
13 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 <string.h>
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#include "gazebo/math/Helpers.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/transport/Node.hh"
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#include "gazebo/rendering/RenderEngine.hh"
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#include "gazebo/rendering/Camera.hh"
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#include "gazebo/sensors/SensorsIface.hh"
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#include "gazebo/sensors/CameraSensor.hh"
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#include "gazebo/test/ServerFixture.hh"
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#include "images_cmp.h"
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#include "gazebo/test/helper_physics_generator.hh"
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using namespace gazebo;
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class FactoryTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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public: void BoxSdf(const std::string &_physicsEngine);
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public: void Box(const std::string &_physicsEngine);
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public: void Sphere(const std::string &_physicsEngine);
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public: void Cylinder(const std::string &_physicsEngine);
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public: void Clone(const std::string &_physicsEngine);
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};
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class LightFactoryTest : public ServerFixture
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{
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/// \brief Light factory publisher.
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protected: transport::PublisherPtr lightFactoryPub;
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};
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///////////////////////////////////////////////////
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// Verify that sdf is retained by entities spawned
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// via factory messages. A change between 1.6, 1.7
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// caused entities to lose their sdf data
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// (see issue #651)
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void FactoryTest::BoxSdf(const std::string &_physicsEngine)
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{
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ignition::math::Pose3d setPose;
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Load("worlds/empty.world", true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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unsigned int entityCount = 6;
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for (unsigned int i = 0; i < entityCount; ++i)
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{
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std::ostringstream name;
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name << "test_box_" << i;
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setPose.Set(ignition::math::Vector3d(0, 0, i+0.5),
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ignition::math::Quaterniond(0, 0, 0));
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SpawnBox(name.str(), ignition::math::Vector3d(1, 1, 1), setPose.Pos(),
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setPose.Rot().Euler());
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}
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// This loop must be separate from the previous loop to cause
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// the failure.
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for (unsigned int i = 0; i < entityCount; ++i)
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{
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std::ostringstream name;
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name << "test_box_" << i;
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physics::ModelPtr model = world->GetModel(name.str());
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ASSERT_TRUE(model != NULL);
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msgs::Model msg;
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model->FillMsg(msg);
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EXPECT_TRUE(msg.has_pose());
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// gzerr << msg.DebugString() << '\n';
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}
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}
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/////////////////////////////////////////////////
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TEST_P(FactoryTest, BoxSdf)
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{
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BoxSdf(GetParam());
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}
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/////////////////////////////////////////////////
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void FactoryTest::Box(const std::string &_physicsEngine)
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{
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ignition::math::Pose3d setPose, testPose;
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Load("worlds/empty.world", true, _physicsEngine);
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for (unsigned int i = 0; i < 100; i++)
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{
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std::ostringstream name;
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name << "test_box_" << i;
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setPose.Set(ignition::math::Vector3d(0, 0, i+0.5),
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ignition::math::Quaterniond(0, 0, 0));
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SpawnBox(name.str(), math::Vector3(1, 1, 1), setPose.Pos(),
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setPose.Rot().Euler());
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testPose = GetEntityPose(name.str()).Ign();
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EXPECT_TRUE(math::equal(testPose.Pos().X(), setPose.Pos().X(), 0.1));
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EXPECT_TRUE(math::equal(testPose.Pos().Y(), setPose.Pos().Y(), 0.1));
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EXPECT_TRUE(math::equal(testPose.Pos().Z(), setPose.Pos().Z(), 0.1));
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}
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}
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/////////////////////////////////////////////////
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TEST_P(FactoryTest, Box)
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{
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Box(GetParam());
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}
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/////////////////////////////////////////////////
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void FactoryTest::Sphere(const std::string &_physicsEngine)
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{
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ignition::math::Pose3d setPose, testPose;
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Load("worlds/empty.world", true, _physicsEngine);
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for (unsigned int i = 0; i < 100; i++)
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{
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std::ostringstream name;
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name << "test_sphere_" << i;
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setPose.Set(ignition::math::Vector3d(0, 0, i+0.5),
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ignition::math::Quaterniond(0, 0, 0));
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SpawnSphere(name.str(), setPose.Pos(), setPose.Rot().Euler());
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testPose = GetEntityPose(name.str()).Ign();
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EXPECT_TRUE(math::equal(testPose.Pos().X(), setPose.Pos().X(), 0.1));
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EXPECT_TRUE(math::equal(testPose.Pos().Y(), setPose.Pos().Y(), 0.1));
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EXPECT_TRUE(math::equal(testPose.Pos().Z(), setPose.Pos().Z(), 0.1));
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}
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}
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/////////////////////////////////////////////////
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TEST_P(FactoryTest, Sphere)
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{
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Sphere(GetParam());
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}
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/////////////////////////////////////////////////
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void FactoryTest::Cylinder(const std::string &_physicsEngine)
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{
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ignition::math::Pose3d setPose, testPose;
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Load("worlds/empty.world", true, _physicsEngine);
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for (unsigned int i = 0; i < 100; i++)
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{
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std::ostringstream name;
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name << "test_cylinder_" << i;
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setPose.Set(
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ignition::math::Vector3d(0, 0, i+0.5),
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ignition::math::Quaterniond(0, 0, 0));
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SpawnCylinder(name.str(), setPose.Pos(), setPose.Rot().Euler());
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testPose = GetEntityPose(name.str()).Ign();
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EXPECT_TRUE(math::equal(testPose.Pos().X(), setPose.Pos().X(), 0.1));
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EXPECT_TRUE(math::equal(testPose.Pos().Y(), setPose.Pos().Y(), 0.1));
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EXPECT_TRUE(math::equal(testPose.Pos().Z(), setPose.Pos().Z(), 0.1));
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}
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}
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/////////////////////////////////////////////////
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TEST_P(FactoryTest, Cylinder)
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{
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Cylinder(GetParam());
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}
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/////////////////////////////////////////////////
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void FactoryTest::Clone(const std::string &_physicsEngine)
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{
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ignition::math::Pose3d testPose;
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Load("worlds/pr2.world", true, _physicsEngine);
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// clone the pr2
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std::string name = "pr2";
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msgs::Factory msg;
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ignition::math::Pose3d clonePose;
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clonePose.Set(ignition::math::Vector3d(2, 3, 0.5),
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ignition::math::Quaterniond(0, 0, 0));
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msgs::Set(msg.mutable_pose(), clonePose);
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msg.set_clone_model_name(name);
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this->factoryPub->Publish(msg);
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// Wait for the pr2 clone to spawn
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std::string cloneName = name + "_clone";
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this->WaitUntilEntitySpawn(cloneName, 100, 100);
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EXPECT_TRUE(this->HasEntity(cloneName));
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testPose = GetEntityPose(cloneName).Ign();
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EXPECT_TRUE(math::equal(testPose.Pos().X(), clonePose.Pos().X(), 0.1));
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EXPECT_TRUE(math::equal(testPose.Pos().Y(), clonePose.Pos().Y(), 0.1));
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EXPECT_TRUE(math::equal(testPose.Pos().Z(), clonePose.Pos().Z(), 0.1));
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// Verify properties of the pr2 clone with the original model.
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// Check model
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physics::ModelPtr model = world->GetModel(name);
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ASSERT_TRUE(model != NULL);
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physics::ModelPtr modelClone = world->GetModel(cloneName);
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ASSERT_TRUE(modelClone != NULL);
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EXPECT_EQ(model->GetJointCount(), modelClone->GetJointCount());
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EXPECT_EQ(model->GetLinks().size(), modelClone->GetLinks().size());
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EXPECT_EQ(model->GetSensorCount(), modelClone->GetSensorCount());
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EXPECT_EQ(model->GetPluginCount(), modelClone->GetPluginCount());
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EXPECT_EQ(model->GetAutoDisable(), modelClone->GetAutoDisable());
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// Check links
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physics::Link_V links = model->GetLinks();
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physics::Link_V linkClones = modelClone->GetLinks();
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for (unsigned int i = 0; i < links.size(); ++i)
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{
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physics::LinkPtr link = links[i];
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physics::LinkPtr linkClone = linkClones[i];
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EXPECT_EQ(link->GetSensorCount(), linkClone->GetSensorCount());
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EXPECT_EQ(link->GetKinematic(), linkClone->GetKinematic());
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// Check collisions
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physics::Collision_V collisions = link->GetCollisions();
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physics::Collision_V collisionClones = linkClone->GetCollisions();
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EXPECT_EQ(collisions.size(), collisionClones.size());
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for (unsigned int j = 0; j < collisions.size(); ++j)
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{
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physics::CollisionPtr collision = collisions[j];
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physics::CollisionPtr collisionClone = collisionClones[j];
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EXPECT_EQ(collision->GetShapeType(), collisionClone->GetShapeType());
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EXPECT_EQ(collision->GetMaxContacts(), collisionClone->GetMaxContacts());
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// Check surface
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physics::SurfaceParamsPtr surface = collision->GetSurface();
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physics::SurfaceParamsPtr cloneSurface = collisionClone->GetSurface();
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EXPECT_EQ(surface->collideWithoutContact,
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cloneSurface->collideWithoutContact);
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EXPECT_EQ(surface->collideWithoutContactBitmask,
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cloneSurface->collideWithoutContactBitmask);
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}
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// Check inertial
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physics::InertialPtr inertial = link->GetInertial();
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physics::InertialPtr inertialClone = linkClone->GetInertial();
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EXPECT_EQ(inertial->GetMass(), inertialClone->GetMass());
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EXPECT_EQ(inertial->GetCoG(), inertialClone->GetCoG());
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EXPECT_EQ(inertial->GetPrincipalMoments(),
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inertialClone->GetPrincipalMoments());
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EXPECT_EQ(inertial->GetProductsofInertia(),
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inertialClone->GetProductsofInertia());
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}
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// Check joints
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physics::Joint_V joints = model->GetJoints();
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physics::Joint_V jointClones = modelClone->GetJoints();
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for (unsigned int i = 0; i < joints.size(); ++i)
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{
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physics::JointPtr joint = joints[i];
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physics::JointPtr jointClone = jointClones[i];
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EXPECT_EQ(joint->GetAngleCount(), jointClone->GetAngleCount());
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for (unsigned j = 0; j < joint->GetAngleCount(); ++j)
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{
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EXPECT_EQ(joint->GetUpperLimit(j), jointClone->GetUpperLimit(j));
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EXPECT_EQ(joint->GetLowerLimit(j), jointClone->GetLowerLimit(j));
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EXPECT_EQ(joint->GetEffortLimit(j), jointClone->GetEffortLimit(j));
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EXPECT_EQ(joint->GetVelocityLimit(j), jointClone->GetVelocityLimit(j));
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EXPECT_EQ(joint->GetStopStiffness(j), jointClone->GetStopStiffness(j));
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EXPECT_EQ(joint->GetStopDissipation(j),
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jointClone->GetStopDissipation(j));
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EXPECT_EQ(joint->GetLocalAxis(j), jointClone->GetLocalAxis(j));
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EXPECT_EQ(joint->GetDamping(j), jointClone->GetDamping(j));
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}
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}
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}
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/////////////////////////////////////////////////
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TEST_P(FactoryTest, Clone)
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{
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Clone(GetParam());
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}
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// Disabling this test for now. Different machines return different
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// camera images. Need a better way to evaluate rendered content.
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// TEST_F(FactoryTest, Camera)
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// {
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/*
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if (rendering::RenderEngine::Instance()->GetRenderPathType() ==
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rendering::RenderEngine::NONE)
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return;
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math::Pose setPose, testPose;
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Load("worlds/empty.world");
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setPose.Set(math::Vector3(-5, 0, 5), math::Quaternion(0, GZ_DTOR(15), 0));
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SpawnCamera("camera_model", "camera_sensor2", setPose.pos,
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setPose.rot.GetAsEuler());
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unsigned char *img = NULL;
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unsigned int width;
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unsigned int height;
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GetFrame("camera_sensor2", &img, width, height);
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ASSERT_EQ(width, static_cast<unsigned int>(320));
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ASSERT_EQ(height, static_cast<unsigned int>(240));
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unsigned int diffMax = 0;
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unsigned int diffSum = 0;
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double diffAvg = 0;
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ImageCompare(&img, &empty_world_camera1,
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width, height, 3, diffMax, diffSum, diffAvg);
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// PrintImage("empty_world_camera1", &img, width, height, 3);
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ASSERT_LT(diffSum, static_cast<unsigned int>(100));
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ASSERT_EQ(static_cast<unsigned int>(0), diffMax);
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ASSERT_EQ(0.0, diffAvg);
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*/
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// }
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/////////////////////////////////////////////////
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TEST_F(LightFactoryTest, SpawnLight)
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{
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Load("worlds/empty.world");
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != nullptr);
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// create lights using ~/factory/light topic
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this->lightFactoryPub = this->node->Advertise<msgs::Light>("~/factory/light");
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std::string light1Name = "new1_light";
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std::string light2Name = "new2_light";
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msgs::Light msg;
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msg.set_name(light1Name);
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ignition::math::Pose3d light1Pose = ignition::math::Pose3d(0, 2, 1, 0, 0, 0);
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msgs::Set(msg.mutable_pose(), light1Pose);
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this->lightFactoryPub->Publish(msg);
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msg.set_name(light2Name);
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ignition::math::Pose3d light2Pose = ignition::math::Pose3d(1, 0, 5, 0, 2, 0);
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msgs::Set(msg.mutable_pose(), light2Pose);
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this->lightFactoryPub->Publish(msg);
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// wait for light to spawn
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int sleep = 0;
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int maxSleep = 50;
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while ((!world->Light(light1Name) || !world->Light(light2Name)) &&
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sleep++ < maxSleep)
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{
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common::Time::MSleep(100);
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}
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// verify lights in world
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physics::LightPtr light1 = world->Light(light1Name);
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physics::LightPtr light2 = world->Light(light2Name);
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ASSERT_NE(nullptr, light1);
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ASSERT_NE(nullptr, light2);
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EXPECT_EQ(light1Name, light1->GetScopedName());
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EXPECT_EQ(light1Pose, light1->GetWorldPose().Ign());
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EXPECT_EQ(light2Name, light2->GetScopedName());
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EXPECT_EQ(light2Pose, light2->GetWorldPose().Ign());
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}
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, FactoryTest, PHYSICS_ENGINE_VALUES);
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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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