297 lines
9.1 KiB
C++
297 lines
9.1 KiB
C++
/*
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* Copyright (C) 2015 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 <boost/any.hpp>
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/physics/World.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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using namespace gazebo;
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class PresetManagerTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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};
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/////////////////////////////////////////////////
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TEST_P(PresetManagerTest, InitializeAllPhysicsEngines)
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{
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const std::string physicsEngineName = GetParam();
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Load("test/worlds/presets.world", false, physicsEngineName);
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physics::WorldPtr world = physics::get_world("default");
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physics::PhysicsEnginePtr physicsEngine = world->GetPhysicsEngine();
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physics::PresetManagerPtr presetManager = world->GetPresetManager();
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if (!presetManager)
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{
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FAIL();
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}
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try
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{
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("max_step_size")), 0.01);
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if (physicsEngineName == "ode" || physicsEngineName == "bullet")
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{
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("min_step_size")), 0.001);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(physicsEngine->GetParam("cfm")),
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0.01);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(physicsEngine->GetParam("erp")),
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0.3);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("contact_surface_layer")), 0.002);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(physicsEngine->GetParam("sor")),
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1.4);
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EXPECT_EQ(boost::any_cast<int>(physicsEngine->GetParam("iters")), 50);
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}
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if (physicsEngineName == "ode")
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{
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EXPECT_TRUE(boost::any_cast<bool>(
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physicsEngine->GetParam("inertia_ratio_reduction")));
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("contact_max_correcting_vel")), 200);
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}
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if (physicsEngineName == "bullet")
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{
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EXPECT_FALSE(boost::any_cast<bool>(
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physicsEngine->GetParam("split_impulse")));
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}
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if (physicsEngineName == "simbody")
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{
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EXPECT_FLOAT_EQ(
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boost::any_cast<double>(physicsEngine->GetParam("accuracy")), 0.01);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(physicsEngine->GetParam(
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"max_transient_velocity")), 0.001);
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}
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}
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catch(const boost::bad_any_cast& e)
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{
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FAIL();
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}
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}
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/////////////////////////////////////////////////
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TEST_F(PresetManagerTest, MultipleDefaults)
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{
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Load("test/worlds/presets.world", false, "ode");
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physics::WorldPtr world = physics::get_world("default");
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physics::PhysicsEnginePtr physicsEngine = world->GetPhysicsEngine();
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physics::PresetManagerPtr presetManager = world->GetPresetManager();
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if (!presetManager)
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{
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FAIL();
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}
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EXPECT_EQ(presetManager->CurrentProfile(), "preset_1");
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}
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/////////////////////////////////////////////////
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TEST_F(PresetManagerTest, NoDefault)
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{
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Load("test/worlds/presets_nodefault.world", false, "ode");
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physics::WorldPtr world = physics::get_world("default");
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physics::PhysicsEnginePtr physicsEngine = world->GetPhysicsEngine();
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physics::PresetManagerPtr presetManager = world->GetPresetManager();
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if (!presetManager)
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{
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FAIL();
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}
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EXPECT_EQ(presetManager->CurrentProfile(), "preset_1");
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}
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/////////////////////////////////////////////////
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TEST_F(PresetManagerTest, SetProfileParam)
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{
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Load("test/worlds/presets.world", false, "ode");
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physics::WorldPtr world = physics::get_world("default");
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physics::PhysicsEnginePtr physicsEngine = world->GetPhysicsEngine();
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physics::PresetManagerPtr presetManager = world->GetPresetManager();
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if (!presetManager)
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{
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FAIL();
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}
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EXPECT_TRUE(presetManager->SetCurrentProfileParam("max_step_size", 10.0));
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try
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{
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("max_step_size")), 10.0);
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// preset_2 is not the current profile, so we do not expect to see a change
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// in the physics engine when we change preset_2.
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EXPECT_TRUE(presetManager->SetProfileParam("preset_2", "max_step_size",
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20));
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("max_step_size")), 10.0);
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}
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catch(const boost::bad_any_cast& e)
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{
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FAIL();
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}
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}
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/////////////////////////////////////////////////
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TEST_F(PresetManagerTest, SetCurrentProfile)
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{
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Load("test/worlds/presets.world", false, "ode");
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physics::WorldPtr world = physics::get_world("default");
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physics::PhysicsEnginePtr physicsEngine = world->GetPhysicsEngine();
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physics::PresetManagerPtr presetManager = world->GetPresetManager();
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if (!presetManager)
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{
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FAIL();
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}
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std::vector<std::string> profileNames(presetManager->AllProfiles());
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EXPECT_EQ(profileNames.size(), 3u);
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presetManager->CurrentProfile("preset_2");
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EXPECT_EQ(presetManager->CurrentProfile(), "preset_2");
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try
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{
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("max_step_size")), 0.02);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("min_step_size")), 0.002);
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EXPECT_EQ(boost::any_cast<int>(physicsEngine->GetParam("iters")), 100);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(physicsEngine->GetParam("cfm")),
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0.02);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(physicsEngine->GetParam("erp")),
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0.6);
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}
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catch(const boost::bad_any_cast& e)
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{
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FAIL();
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}
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}
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/////////////////////////////////////////////////
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TEST_F(PresetManagerTest, CreateProfileFromSDF)
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{
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Load("test/worlds/presets.world", false, "ode");
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physics::WorldPtr world = physics::get_world("default");
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physics::PhysicsEnginePtr physicsEngine = world->GetPhysicsEngine();
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physics::PresetManagerPtr presetManager = world->GetPresetManager();
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if (!presetManager)
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{
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FAIL();
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}
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sdf::SDF worldSDF;
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worldSDF.SetFromString(
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"<sdf version = \"1.5\">\
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<world name = \"default\">\
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<physics name = \"preset_3\" type = \"ode\">\
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<max_step_size>0.03</max_step_size>\
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<ode>\
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<solver>\
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<min_step_size>0.003</min_step_size>\
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<iters>150</iters>\
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<sor>1.6</sor>\
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</solver>\
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<constraints>\
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<cfm>0.03</cfm>\
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<erp>0.7</erp>\
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</constraints>\
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</ode>\
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</physics>\
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</world>\
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</sdf>");
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sdf::ElementPtr physicsSDF = worldSDF.Root()->GetElement("world")
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->GetElement("physics");
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presetManager->CreateProfile(physicsSDF);
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presetManager->CurrentProfile("preset_3");
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try
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{
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("max_step_size")), 0.03);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("min_step_size")), 0.003);
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EXPECT_EQ(boost::any_cast<int>(physicsEngine->GetParam("iters")), 150);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(physicsEngine->GetParam("cfm")),
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0.03);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(physicsEngine->GetParam("erp")),
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0.7);
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}
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catch(const boost::bad_any_cast& e)
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{
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FAIL();
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}
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}
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TEST_F(PresetManagerTest, BackwardsCompatibilityTest)
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{
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Load("worlds/empty.world", false, "ode");
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physics::WorldPtr world = physics::get_world("default");
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physics::PhysicsEnginePtr physicsEngine = world->GetPhysicsEngine();
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physics::PresetManagerPtr presetManager = world->GetPresetManager();
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if (!presetManager)
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{
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FAIL();
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}
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try
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{
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("max_step_size")), 0.001);
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EXPECT_EQ(boost::any_cast<int>(physicsEngine->GetParam("iters")), 50);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(physicsEngine->GetParam("cfm")),
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0.0);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(physicsEngine->GetParam("erp")),
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0.2);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("contact_max_correcting_vel")), 100);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("contact_surface_layer")), 0.001);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(physicsEngine->GetParam("sor")),
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1.3);
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EXPECT_FLOAT_EQ(boost::any_cast<double>(
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physicsEngine->GetParam("min_step_size")), 0.0001);
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EXPECT_FALSE(boost::any_cast<bool>(
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physicsEngine->GetParam("inertia_ratio_reduction")));
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}
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catch(const boost::bad_any_cast& e)
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{
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FAIL();
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}
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}
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, PresetManagerTest,
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PHYSICS_ENGINE_VALUES);
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/////////////////////////////////////////////////
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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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