141 lines
3.9 KiB
C++
141 lines
3.9 KiB
C++
/*
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* Copyright (C) 2016 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>
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#include <vector>
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#include <gtest/gtest.h>
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#include <ignition/math/Box.hh>
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#include "gazebo/rendering/RenderingIface.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/rendering/Scene.hh"
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#include "gazebo/rendering/InertiaVisual.hh"
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class InertiaVisual_TEST : public RenderingFixture
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{
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};
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/////////////////////////////////////////////////
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TEST_F(InertiaVisual_TEST, InertiaVisualTest)
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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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ASSERT_NE(scene, nullptr);
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ASSERT_NE(scene->WorldVisual(), nullptr);
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unsigned int count = scene->WorldVisual()->GetChildCount();
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// test calling constructor and Load functions and make sure
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// there are no segfaults
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gazebo::rendering::VisualPtr inertiaVis(new gazebo::rendering::InertiaVisual(
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"inertia_vis", scene->WorldVisual()));
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inertiaVis->Load();
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EXPECT_EQ(inertiaVis->GetName(), "inertia_vis");
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EXPECT_GT(scene->WorldVisual()->GetChildCount(), count);
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EXPECT_NE(scene->GetVisual(inertiaVis->GetName()), nullptr);
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// test destroying the visual
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inertiaVis->Fini();
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EXPECT_EQ(inertiaVis->GetChildCount(), 0u);
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// verify scene's child count is the same as before the visual was created
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EXPECT_EQ(scene->WorldVisual()->GetChildCount(), count);
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}
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/////////////////////////////////////////////////
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TEST_F(InertiaVisual_TEST, InertiaRotation)
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{
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Load("worlds/inertia_rotations.world");
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gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene();
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ASSERT_NE(scene, nullptr);
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const std::vector<std::string> inertiaVisualNames =
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{
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"box010409_ref::link_INERTIA_VISUAL__",
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"box010409_x90::link_INERTIA_VISUAL__",
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"box010409_y90::link_INERTIA_VISUAL__",
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"box010409_z90::link_INERTIA_VISUAL__",
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"box010409_x45::link_INERTIA_VISUAL__",
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"box010409_y45::link_INERTIA_VISUAL__",
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"box010409_z45::link_INERTIA_VISUAL__"
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};
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// Generate inertia visuals
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scene->ShowInertias(true);
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// Wait until all models are inserted
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int sleep = 0;
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const int maxSleep = 50;
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while (sleep < maxSleep)
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{
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event::Events::preRender();
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event::Events::render();
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event::Events::postRender();
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bool found = true;
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for (const auto name : inertiaVisualNames)
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{
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auto visual = scene->GetVisual(name);
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if (visual == nullptr)
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{
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found = false;
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break;
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}
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}
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if (found)
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{
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break;
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}
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common::Time::MSleep(200);
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sleep++;
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}
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EXPECT_LT(sleep, maxSleep);
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// expect bounding box of size 0.1 x 0.4 x 0.9
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const ignition::math::Box box(-0.05, -0.2, -0.45,
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0.05, 0.2, 0.45);
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for (const auto name : inertiaVisualNames)
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{
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gzdbg << "Check bounding box for "
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<< name
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<< std::endl;
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auto visual = scene->GetVisual(name);
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ASSERT_NE(visual, nullptr);
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// need to set these flags in order to GetBoundingBox
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visual->SetVisible(true);
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visual->SetVisibilityFlags(GZ_VISIBILITY_ALL);
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EXPECT_EQ(visual->GetBoundingBox().Ign(), box);
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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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