81 lines
2.4 KiB
C++
81 lines
2.4 KiB
C++
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/*
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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 <ignition/math/Angle.hh>
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#include "gazebo/common/Dem.hh"
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#include "gazebo/sensors/GpsSensor.hh"
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#include "gazebo/test/ServerFixture.hh"
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#define DOUBLE_TOL 1e-3
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using namespace gazebo;
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class Dem_TEST : public ServerFixture
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{
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};
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#ifdef HAVE_GDAL
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/////////////////////////////////////////////////
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/// \brief Test the integration between GPS and a DEM terrain.
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TEST_F(Dem_TEST, GPS)
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{
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ignition::math::Angle latitude, longitude;
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double elevation;
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common::Dem dem;
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boost::filesystem::path path = "file://media/dem/volcano.tif";
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// Load a DEM world with a GPS sensor (without noise) attached to a box.
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Load("worlds/dem_gps.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("box1");
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ASSERT_TRUE(model != NULL);
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sensors::SensorManager *mgr = sensors::SensorManager::Instance();
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// Update the sensor manager so that it can process new sensors.
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mgr->Update();
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// Get a pointer to the GPS sensor.
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sensors::GpsSensorPtr sensor =
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std::dynamic_pointer_cast<sensors::GpsSensor>(
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mgr->GetSensor("gps"));
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// Make sure the above dynamic cast worked.
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EXPECT_TRUE(sensor != NULL);
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EXPECT_TRUE(sensor->IsActive());
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sensor->Update(true);
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// Get the georeference coordinates of the DEM's origin
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dem.Load(path.string());
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dem.GetGeoReferenceOrigin(latitude, longitude);
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elevation = dem.GetElevation(0.0, 0.0);
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EXPECT_NEAR(sensor->Latitude().Degree(), latitude.Degree(), DOUBLE_TOL);
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EXPECT_NEAR(sensor->Longitude().Degree(), longitude.Degree(), DOUBLE_TOL);
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// Sensor altitude is the elevation of the terrain + the sensor position.
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EXPECT_NEAR(sensor->Altitude(),
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elevation + model->GetWorldPose().pos.z, 1);
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}
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#endif
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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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