62 lines
1.7 KiB
C++
62 lines
1.7 KiB
C++
/*
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* Copyright (C) 2012 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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#include "gazebo/math/Box.hh"
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using namespace gazebo;
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class Issue1146Test : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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// \brief Test for issue #1146
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TEST_F(Issue1146Test, Reset)
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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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EXPECT_EQ(coll->GetCollisionBoundingBox(),
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math::Box(math::Vector3(-0.5, -0.5, 0), math::Vector3(0.5, 0.5, 1)));
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// Move the box
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model->SetWorldPose(math::Pose(10, 15, 20, 0, 0, 0));
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EXPECT_EQ(coll->GetCollisionBoundingBox(),
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math::Box(math::Vector3(9.5, 14.5, 19.5),
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math::Vector3(10.5, 15.5, 20.5)));
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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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