79 lines
2.4 KiB
C++
79 lines
2.4 KiB
C++
/*
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* Copyright (C) 2015 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/rendering/rendering.hh>
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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const double g_tolerance = 1e-4;
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class Issue1694Test : public ServerFixture
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{
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/// \brief Check acceleration value.
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/// \param[in] _accel Acceleration to check.
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/// \param[in] _expected Expected value.
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public: static void CheckAccel(const math::Vector3 &_accel,
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const math::Vector3 &_expected);
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};
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/////////////////////////////////////////////////
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void Issue1694Test::CheckAccel(const math::Vector3 &_accel,
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const math::Vector3 &_expected)
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{
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EXPECT_NEAR(_accel.x, _expected.x, g_tolerance);
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EXPECT_NEAR(_accel.y, _expected.y, g_tolerance);
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EXPECT_NEAR(_accel.z, _expected.z, g_tolerance);
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}
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/////////////////////////////////////////////////
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// \brief Test for issue #1694
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TEST_F(Issue1694Test, WorldAccel)
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{
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Load("worlds/issue_1694.world", true);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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physics::ModelPtr model = world->GetModel("box_model");
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ASSERT_TRUE(model != NULL);
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physics::LinkPtr link = model->GetLink("box_link");
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ASSERT_TRUE(link != NULL);
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const math::Vector3 g = world->GetPhysicsEngine()->GetGravity();
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world->Step(1);
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// Expect box to still be falling
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CheckAccel(link->GetRelativeLinearAccel(), g);
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CheckAccel(link->GetWorldLinearAccel(), g);
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world->Step(3000);
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// The box should be resting on the ground
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CheckAccel(link->GetRelativeLinearAccel(), math::Vector3());
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CheckAccel(link->GetWorldLinearAccel(), math::Vector3());
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}
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/////////////////////////////////////////////////
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/// Main
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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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