139 lines
4.0 KiB
C++
139 lines
4.0 KiB
C++
/*
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* Copyright (C) 2013 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 <sstream>
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class GzJoint : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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/// \brief Test application of force to a joint ('gz joint -f')
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TEST_F(GzJoint, Force)
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{
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Load("worlds/single_revolute_test.world");
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// Get a pointer to the world
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// Get a pointer to the model
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physics::ModelPtr model = world->GetModel("model");
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ASSERT_TRUE(model != NULL);
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// Get a pointer to the joint
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physics::JointPtr joint = model->GetJoint("joint");
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ASSERT_TRUE(joint != NULL);
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// Make sure the joint is at the correct initial pose
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EXPECT_NEAR(joint->GetAngle(0).Radian(), 0.0, 1e-3);
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world->SetPaused(true);
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// Move the joint
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custom_exec("gz joint -w default -m model -j joint -f 1.0e5");
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world->Step(100);
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// Make sure the joint has moved.
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EXPECT_GT(joint->GetAngle(0).Radian(), 0.1);
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}
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/////////////////////////////////////////////////
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/// \brief Test application of position PID to a joint ('gz joint --pos-*')
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TEST_F(GzJoint, PositionPID)
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{
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Load("worlds/single_revolute_test.world");
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// Get a pointer to the world
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// Disable gravity to simplify PID control
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physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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ASSERT_TRUE(physics != NULL);
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physics->SetGravity(math::Vector3::Zero);
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// Get a pointer to the model
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physics::ModelPtr model = world->GetModel("model");
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ASSERT_TRUE(model != NULL);
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// Get a pointer to the joint
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physics::JointPtr joint = model->GetJoint("joint");
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ASSERT_TRUE(joint != NULL);
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// Make sure the joint is at the correct initial pose
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EXPECT_NEAR(joint->GetAngle(0).Radian(), 0.0, 1e-3);
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world->SetPaused(true);
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// Tell the joint to hold a position using a PID controller.
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double targetAngle = 0.5;
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std::ostringstream stream;
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stream << "gz joint -w default -m model -j joint --pos-t "
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<< targetAngle
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<< " --pos-p 0.6e10 --pos-i 0.0 --pos-d 1.8e10";
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custom_exec(stream.str());
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world->Step(5000);
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// Make sure the joint is at the specified pose
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EXPECT_NEAR(joint->GetAngle(0).Radian(), targetAngle, 0.2);
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}
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/////////////////////////////////////////////////
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/// \brief Test application of velocity PID to a joint ('gz joint --vel-*')
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TEST_F(GzJoint, VelocityPID)
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{
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Load("worlds/single_revolute_test.world");
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// Get a pointer to the world
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// Get a pointer to the model
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physics::ModelPtr model = world->GetModel("model");
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ASSERT_TRUE(model != NULL);
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// Get a pointer to the joint
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physics::JointPtr joint = model->GetJoint("joint");
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ASSERT_TRUE(joint != NULL);
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// Make sure the joint is at the correct initial pose
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EXPECT_NEAR(joint->GetAngle(0).Radian(), 0.0, 1e-3);
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world->SetPaused(true);
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// Tell the joint to hold a velocity using a PID controller.
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custom_exec("gz joint -w default -m model -j joint --vel-t 0.5 "
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"--vel-p 1e5 --vel-i 10.0 --vel-d 0.01");
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world->Step(800);
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// Make sure the joint has the specified velocity
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EXPECT_NEAR(joint->GetVelocity(0), 0.5, 0.1);
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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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