56 lines
1.6 KiB
C++
56 lines
1.6 KiB
C++
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/*
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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 SetWorldPoseTest : public ServerFixture {};
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/////////////////////////////////////////////////
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TEST_F(SetWorldPoseTest, Stress)
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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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math::Pose pose(1, 2, 3, 0, 0, 0);
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common::Time startTime = common::Time::GetWallTime();
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for (unsigned int i = 0; i < 10000000; ++i)
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{
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model->SetWorldPose(pose);
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}
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common::Time endTime = common::Time::GetWallTime();
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gzdbg << "Time elapsed while setting world pose ["
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<< endTime - startTime << "]\n";
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EXPECT_LT(endTime - startTime, common::Time(15, 0));
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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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