157 lines
3.9 KiB
C++
157 lines
3.9 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 <boost/filesystem.hpp>
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class GzModel : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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/// \brief Test spawning a model from SDF ('gz model -f')
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TEST_F(GzModel, Spawn)
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{
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Load("worlds/empty_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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std::string cmd;
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boost::filesystem::path path;
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path = path / TEST_PATH / "models" / "box.sdf";
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// Spawn a model with few parameters.
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{
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cmd = "gz model -w default -m my_model -f " + path.string();
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SetPause(true);
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// Spawn a model.
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custom_exec(cmd);
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world->Step(100);
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EXPECT_TRUE(world->GetModel("my_model") != NULL);
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}
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// Spawn another box at a different location
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{
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cmd = "gz model -w default -m next_model -x 5 -y 2 -z 9000 "
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"-R 0.1 -P 0.2 -Y 0.3 -f " + path.string();
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SetPause(true);
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// Spawn a model.
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custom_exec(cmd);
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world->Step(100);
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EXPECT_TRUE(world->GetModel("next_model") != NULL);
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physics::ModelPtr model = world->GetModel("next_model");
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ASSERT_TRUE(model != NULL);
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// Check the pose of the spawned model
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math::Pose pose = model->GetWorldPose();
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math::Vector3 rpy = pose.rot.GetAsEuler();
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EXPECT_NEAR(pose.pos.x, 5, 1e-5);
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EXPECT_NEAR(pose.pos.y, 2, 1e-5);
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EXPECT_LT(pose.pos.z, 9000.0);
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EXPECT_GT(pose.pos.z, 8900.0);
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EXPECT_NEAR(rpy.x, 0.1, 1e-5);
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EXPECT_NEAR(rpy.y, 0.2, 1e-5);
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EXPECT_NEAR(rpy.z, 0.3, 1e-5);
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}
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}
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/////////////////////////////////////////////////
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/// \brief Test spawning and deleting a model from SDF ('gz model -d')
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TEST_F(GzModel, SpawnAndDelete)
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{
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Load("worlds/empty_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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boost::filesystem::path path = TEST_PATH;
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path = path / "models" / "box.sdf";
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std::string cmd = "gz model -w default -m my_model -f " + path.string();
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// Spawn a model.
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custom_exec(cmd);
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common::Time::MSleep(1000);
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EXPECT_TRUE(HasEntity("my_model"));
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// Delete a model.
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custom_exec("gz model -w default -m my_model -d ");
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common::Time::MSleep(1000);
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EXPECT_FALSE(world->GetModel("my_model"));
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}
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/////////////////////////////////////////////////
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/// \brief Test spawning and moving a model
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TEST_F(GzModel, SpawnAndMove)
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{
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Load("worlds/empty.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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boost::filesystem::path path = TEST_PATH;
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path = path / "models" / "box.sdf";
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std::string cmd = "cat ";
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cmd += path.string() + " | gz model -w default -m my_model -s ";
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// Spawn a model.
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custom_exec(cmd);
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common::Time::MSleep(1000);
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EXPECT_TRUE(HasEntity("my_model"));
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physics::ModelPtr model = world->GetModel("my_model");
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world->SetPaused(true);
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// Move a model.
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custom_exec("gz model -w default -m my_model -x 10 -y 11 -z 5 "
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"-R 0.1 -P 0.2 -Y 0.3");
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common::Time::MSleep(1000);
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EXPECT_EQ(model->GetWorldPose(), math::Pose(10, 11, 5, 0.1, 0.2, 0.3));
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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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