85 lines
2.5 KiB
C++
85 lines
2.5 KiB
C++
/*
|
|
* Copyright (C) 2017 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in axispliance 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 "gazebo/gui/GuiIface.hh"
|
|
#include "gazebo/gui/MainWindow.hh"
|
|
#include "gazebo/rendering/RenderingIface.hh"
|
|
#include "gazebo/rendering/RenderTypes.hh"
|
|
#include "gazebo/rendering/Scene.hh"
|
|
#include "gazebo/rendering/WrenchVisual.hh"
|
|
#include "gazebo/test/ServerFixture.hh"
|
|
#include "test/integration/force_torque_visualization.hh"
|
|
|
|
using namespace gazebo;
|
|
|
|
/////////////////////////////////////////////////
|
|
void ForceTorqueVisualizationTest::WrenchVisual()
|
|
{
|
|
this->resMaxPercentChange = 5.0;
|
|
this->shareMaxPercentChange = 2.0;
|
|
|
|
// Load world with force torque sensors
|
|
this->Load("test/worlds/force_torque_test.world");
|
|
|
|
// Create the main window.
|
|
auto mainWindow = new gazebo::gui::MainWindow();
|
|
QVERIFY(mainWindow != nullptr);
|
|
mainWindow->Load();
|
|
mainWindow->Init();
|
|
mainWindow->show();
|
|
|
|
// Get the user camera and scene. We need to check the client scene
|
|
// since this is a GUI visualization.
|
|
auto cam = gazebo::gui::get_active_camera();
|
|
QVERIFY(cam != nullptr);
|
|
auto scene = cam->GetScene();
|
|
QVERIFY(scene != nullptr);
|
|
|
|
// Enable sensor visualizations
|
|
QVERIFY(!scene->EnableVisualizations());
|
|
scene->EnableVisualizations(true);
|
|
QVERIFY(scene->EnableVisualizations());
|
|
|
|
this->ProcessEventsAndDraw(mainWindow);
|
|
|
|
int sleep = 0;
|
|
int maxSleep = 30;
|
|
std::string visName("model_1::joint_01::force_torque_GUIONLY_wrench_vis");
|
|
|
|
while (!scene->GetVisual(visName) && sleep < maxSleep)
|
|
{
|
|
this->ProcessEventsAndDraw(mainWindow);
|
|
common::Time::MSleep(100);
|
|
sleep++;
|
|
}
|
|
|
|
// Check that wrench visual have been added to the scene
|
|
auto forceTorqueVis = scene->GetVisual(visName);
|
|
QVERIFY(forceTorqueVis != nullptr);
|
|
|
|
auto wrenchVis =
|
|
std::dynamic_pointer_cast<rendering::WrenchVisual>(forceTorqueVis);
|
|
QVERIFY(wrenchVis != nullptr);
|
|
|
|
mainWindow->close();
|
|
delete mainWindow;
|
|
}
|
|
|
|
// Generate a main function for the test
|
|
QTEST_MAIN(ForceTorqueVisualizationTest)
|