69 lines
1.9 KiB
C++
69 lines
1.9 KiB
C++
/*
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* Copyright (C) 2015 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 <sdf/sdf.hh>
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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#include "gazebo/physics/UserCmdManager.hh"
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using namespace gazebo;
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/////////////////////////////////////////////////
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class UserCmdManagerTest : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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TEST_F(UserCmdManagerTest, CreateCmd)
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{
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// Load a world
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Load("test/worlds/empty_test.world", true);
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// Get a pointer to the world, make sure world loads
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physics::WorldPtr world = physics::get_world("default");
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EXPECT_TRUE(world != NULL);
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// Create a manager
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physics::UserCmdManager *manager = new physics::UserCmdManager(world);
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EXPECT_TRUE(manager != NULL);
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// Create the command
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unsigned int id = 21;
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std::string description = "Command description";
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msgs::UserCmd::Type type = msgs::UserCmd::MOVING;
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physics::UserCmd *cmd = new physics::UserCmd(id, world, description, type);
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EXPECT_TRUE(cmd != NULL);
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// Check data
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EXPECT_EQ(id, cmd->Id());
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EXPECT_EQ(description, cmd->Description());
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EXPECT_EQ(type, cmd->Type());
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// Clean up
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delete cmd;
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cmd = NULL;
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delete manager;
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manager = NULL;
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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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