112 lines
3.2 KiB
C++
112 lines
3.2 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/Vector3.hh"
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#include "gazebo/math/Quaternion.hh"
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#include "gazebo/common/KeyFrame.hh"
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#include "gazebo/common/Animation.hh"
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#include "test/util.hh"
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using namespace gazebo;
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class AnimationTest : public gazebo::testing::AutoLogFixture { };
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TEST_F(AnimationTest, PoseAnimation)
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{
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{
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common::PoseAnimation anim("test", 1.0, true);
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anim.SetTime(-0.5);
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EXPECT_DOUBLE_EQ(0.5, anim.GetTime());
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}
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{
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common::PoseAnimation anim("test", 1.0, false);
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anim.SetTime(-0.5);
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EXPECT_DOUBLE_EQ(0.0, anim.GetTime());
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anim.SetTime(1.5);
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EXPECT_DOUBLE_EQ(1.0, anim.GetTime());
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}
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common::PoseAnimation anim("pose_test", 5.0, false);
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common::PoseKeyFrame *key = anim.CreateKeyFrame(0.0);
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EXPECT_DOUBLE_EQ(5.0, anim.GetLength());
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anim.SetLength(10.0);
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EXPECT_DOUBLE_EQ(10.0, anim.GetLength());
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key->Translation(ignition::math::Vector3d(0, 0, 0));
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EXPECT_TRUE(key->Translation() == ignition::math::Vector3d(0, 0, 0));
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key->Rotation(ignition::math::Quaterniond(0, 0, 0));
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EXPECT_TRUE(key->Rotation() == ignition::math::Quaterniond(0, 0, 0));
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key = anim.CreateKeyFrame(10.0);
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key->Translation(ignition::math::Vector3d(10, 20, 30));
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EXPECT_TRUE(key->Translation() == ignition::math::Vector3d(10, 20, 30));
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key->Rotation(ignition::math::Quaterniond(0.1, 0.2, 0.3));
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EXPECT_TRUE(key->Rotation() == ignition::math::Quaterniond(0.1, 0.2, 0.3));
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anim.AddTime(5.0);
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EXPECT_DOUBLE_EQ(5.0, anim.GetTime());
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anim.SetTime(4.0);
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EXPECT_DOUBLE_EQ(4.0, anim.GetTime());
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common::PoseKeyFrame interpolatedKey(-1.0);
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anim.GetInterpolatedKeyFrame(interpolatedKey);
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EXPECT_TRUE(interpolatedKey.Translation() ==
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ignition::math::Vector3d(3.76, 7.52, 11.28));
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EXPECT_TRUE(interpolatedKey.Rotation() ==
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ignition::math::Quaterniond(0.0302776, 0.0785971, 0.109824));
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}
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TEST_F(AnimationTest, NumericAnimation)
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{
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common::NumericAnimation anim("numeric_test", 10, false);
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common::NumericKeyFrame *key = anim.CreateKeyFrame(0.0);
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key->SetValue(0.0);
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EXPECT_DOUBLE_EQ(0.0, key->GetValue());
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key = anim.CreateKeyFrame(10.0);
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key->SetValue(30);
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EXPECT_DOUBLE_EQ(30, key->GetValue());
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anim.AddTime(5.0);
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EXPECT_DOUBLE_EQ(5.0, anim.GetTime());
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anim.SetTime(4.0);
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EXPECT_DOUBLE_EQ(4.0, anim.GetTime());
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common::NumericKeyFrame interpolatedKey(0);
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anim.GetInterpolatedKeyFrame(interpolatedKey);
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EXPECT_DOUBLE_EQ(12, interpolatedKey.GetValue());
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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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