125 lines
3.8 KiB
C++
125 lines
3.8 KiB
C++
/*
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* Copyright (C) 2014 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 "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class Issue1124Test : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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// \brief Test for issue #1124 by directly setting a model pose
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TEST_F(Issue1124Test, SetModelPose)
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{
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Load("worlds/box_plane_low_friction_test.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");
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ASSERT_TRUE(model != NULL);
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physics::LinkPtr link = model->GetLink("link");
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ASSERT_TRUE(link != NULL);
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physics::CollisionPtr coll = link->GetCollision("collision");
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ASSERT_TRUE(coll != NULL);
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// The start pose should be centered at the origin
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EXPECT_EQ(coll->GetWorldPose(), math::Pose(0, 0, 0.5, 0, 0, 0));
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// The world->steps are not necessary. There are included to
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// err on the side of caution.
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world->Step(1);
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model->SetWorldPose(math::Pose(2, 2, 0.5, 0, 0, 0));
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world->Step(1);
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EXPECT_EQ(model->GetWorldPose(), math::Pose(2, 2, 0.5, 0, 0, 0));
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world->Step(1);
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EXPECT_EQ(link->GetWorldPose(), math::Pose(2, 2, 0.5, 0, 0, 0));
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world->Step(1);
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// The new pose should be centered a the new model location
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EXPECT_EQ(coll->GetWorldPose(), math::Pose(2, 2, 0.5, 0, 0, 0));
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world->Step(1);
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}
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/////////////////////////////////////////////////
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// \brief Test for issue #1124 by directly setting a link pose
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TEST_F(Issue1124Test, SetLinkPose)
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{
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Load("worlds/box_plane_low_friction_test.world");
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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");
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ASSERT_TRUE(model != NULL);
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physics::LinkPtr link = model->GetLink("link");
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ASSERT_TRUE(link != NULL);
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physics::CollisionPtr coll = link->GetCollision("collision");
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ASSERT_TRUE(coll != NULL);
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// The start pose should be centered at the origin
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EXPECT_EQ(coll->GetWorldPose(), math::Pose(0, 0, 0.5, 0, 0, 0));
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link->SetWorldPose(math::Pose(-4, 5, 0.5, 0, 0, 0));
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// The new pose should be centered a the new model location
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EXPECT_EQ(coll->GetWorldPose(), math::Pose(-4, 5, 0.5, 0, 0, 0));
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}
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/////////////////////////////////////////////////
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// \brief Test for issue #1124 using the physics engine
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TEST_F(Issue1124Test, MovingPose)
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{
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Load("worlds/box_plane_low_friction_test.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");
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ASSERT_TRUE(model != NULL);
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physics::LinkPtr link = model->GetLink("link");
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ASSERT_TRUE(link != NULL);
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physics::CollisionPtr coll = link->GetCollision("collision");
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ASSERT_TRUE(coll != NULL);
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// The start pose should be centered at the origin
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EXPECT_EQ(coll->GetWorldPose(), math::Pose(0, 0, 0.5, 0, 0, 0));
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// Move the model by adding a force. This will exercise the physics engine
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// pose change callbacks.
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link->AddForce(math::Vector3(100, 0, 0.0));
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world->Step(5000);
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EXPECT_GT(model->GetWorldPose().pos.x, 1.0);
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EXPECT_EQ(model->GetWorldPose(), coll->GetWorldPose());
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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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