130 lines
4.2 KiB
C++
130 lines
4.2 KiB
C++
/*
|
|
* Copyright (C) 2014 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#include <gtest/gtest.h>
|
|
|
|
#include <ignition/math/Matrix4.hh>
|
|
|
|
#include "test/util.hh"
|
|
|
|
#include "gazebo/rendering/ogre_gazebo.h"
|
|
#include "gazebo/rendering/RenderTypes.hh"
|
|
#include "gazebo/rendering/Conversions.hh"
|
|
|
|
using namespace gazebo;
|
|
class Conversions_TEST : public gazebo::testing::AutoLogFixture { };
|
|
|
|
/////////////////////////////////////////////////
|
|
TEST_F(Conversions_TEST, Matrix4)
|
|
{
|
|
// identity
|
|
EXPECT_EQ(rendering::Conversions::ConvertIgn(Ogre::Matrix4::IDENTITY),
|
|
ignition::math::Matrix4d::Identity);
|
|
EXPECT_EQ(rendering::Conversions::Convert(ignition::math::Matrix4d::Identity),
|
|
Ogre::Matrix4::IDENTITY);
|
|
|
|
// zero
|
|
EXPECT_EQ(rendering::Conversions::ConvertIgn(Ogre::Matrix4::ZERO),
|
|
ignition::math::Matrix4d::Zero);
|
|
EXPECT_EQ(rendering::Conversions::Convert(ignition::math::Matrix4d::Zero),
|
|
Ogre::Matrix4::ZERO);
|
|
|
|
// rotation and translation
|
|
Ogre::Matrix4 m1(1, 0, 0, 2,
|
|
0, 0, -1, 3,
|
|
0, 1, 0, -5,
|
|
0, 0, 0, 1);
|
|
|
|
ignition::math::Matrix4d m2(1, 0, 0, 2,
|
|
0, 0, -1, 3,
|
|
0, 1, 0, -5,
|
|
0, 0, 0, 1);
|
|
EXPECT_EQ(rendering::Conversions::ConvertIgn(m1), m2);
|
|
EXPECT_EQ(rendering::Conversions::Convert(m2), m1);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
TEST_F(Conversions_TEST, Quaternion)
|
|
{
|
|
// identity
|
|
EXPECT_EQ(rendering::Conversions::ConvertIgn(Ogre::Quaternion::IDENTITY),
|
|
ignition::math::Quaterniond::Identity);
|
|
EXPECT_EQ(rendering::Conversions::Convert(
|
|
ignition::math::Quaterniond::Identity), Ogre::Quaternion::IDENTITY);
|
|
|
|
// zero
|
|
EXPECT_EQ(rendering::Conversions::ConvertIgn(Ogre::Quaternion::ZERO),
|
|
ignition::math::Quaterniond(0, 0, 0, 0));
|
|
EXPECT_EQ(rendering::Conversions::Convert(
|
|
ignition::math::Quaterniond(0, 0, 0, 0)), Ogre::Quaternion::ZERO);
|
|
|
|
// rotation
|
|
Ogre::Quaternion q1(0.7071, 0, 0.7071, 0);
|
|
ignition::math::Quaterniond q2(0.7071, 0, 0.7071, 0);
|
|
|
|
EXPECT_EQ(rendering::Conversions::ConvertIgn(q1), q2);
|
|
EXPECT_EQ(rendering::Conversions::Convert(q2), q1);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
TEST_F(Conversions_TEST, Vector3)
|
|
{
|
|
// one
|
|
EXPECT_EQ(rendering::Conversions::ConvertIgn(Ogre::Vector3::UNIT_SCALE),
|
|
ignition::math::Vector3d::One);
|
|
EXPECT_EQ(rendering::Conversions::Convert(
|
|
ignition::math::Vector3d::One), Ogre::Vector3::UNIT_SCALE);
|
|
|
|
// zero
|
|
EXPECT_EQ(rendering::Conversions::ConvertIgn(Ogre::Vector3::ZERO),
|
|
ignition::math::Vector3d::Zero);
|
|
EXPECT_EQ(rendering::Conversions::Convert(ignition::math::Vector3d::Zero),
|
|
Ogre::Vector3::ZERO);
|
|
|
|
// random vector3 values
|
|
Ogre::Vector3 v1(0.3, -50, 8);
|
|
ignition::math::Vector3d v2(0.3, -50, 8);
|
|
|
|
EXPECT_EQ(rendering::Conversions::ConvertIgn(v1), v2);
|
|
EXPECT_EQ(rendering::Conversions::Convert(v2), v1);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
TEST_F(Conversions_TEST, TransformSpace)
|
|
{
|
|
EXPECT_EQ(rendering::Conversions::Convert(Ogre::Node::TS_LOCAL),
|
|
rendering::RF_LOCAL);
|
|
EXPECT_EQ(rendering::Conversions::Convert(Ogre::Node::TS_PARENT),
|
|
rendering::RF_PARENT);
|
|
EXPECT_EQ(rendering::Conversions::Convert(Ogre::Node::TS_WORLD),
|
|
rendering::RF_WORLD);
|
|
|
|
EXPECT_EQ(rendering::Conversions::Convert(rendering::RF_LOCAL),
|
|
Ogre::Node::TS_LOCAL);
|
|
EXPECT_EQ(rendering::Conversions::Convert(rendering::RF_PARENT),
|
|
Ogre::Node::TS_PARENT);
|
|
EXPECT_EQ(rendering::Conversions::Convert(rendering::RF_WORLD),
|
|
Ogre::Node::TS_WORLD);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
int main(int argc, char **argv)
|
|
{
|
|
::testing::InitGoogleTest(&argc, argv);
|
|
return RUN_ALL_TESTS();
|
|
}
|