57 lines
1.6 KiB
C++
57 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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#include "gazebo/physics/physics.hh"
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using namespace gazebo;
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class Issue1208Test : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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// \brief Test for issue #1208
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TEST_F(Issue1208Test, Reset)
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{
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Load("worlds/issue_1208.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::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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ASSERT_TRUE(physics != NULL);
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world->Step(1);
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// There is a WorldPlugin attached to this world.
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// It has a counter that increments with each call of Init.
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// It then sets the value of that counter to the
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// real time update rate of the physics engine.
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// It's a little convoluted, but it's an easy way to get
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// data from the plugin without using transport.
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EXPECT_NEAR(physics->GetRealTimeUpdateRate(), 1.0, 1e-2);
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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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