81 lines
2.4 KiB
C++
81 lines
2.4 KiB
C++
/*
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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 <boost/foreach.hpp>
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#include <boost/lexical_cast.hpp>
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/physics/physics.hh"
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#include "gazebo/sensors/sensors.hh"
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#include "gazebo/common/common.hh"
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using namespace gazebo;
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class SpawnModels : 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(SpawnModels, WirelessTransmitters)
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{
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double gain = 2.6;
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double power = 14.5;
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Load("worlds/empty.world", true, GetParam());
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for (int i = 0; i < 10; ++i)
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{
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for (int j = 0; j < 10; ++j)
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{
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std::string modelName = "tx" +
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boost::lexical_cast<std::string>(i) +
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boost::lexical_cast<std::string>(j);
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std::string sensorName = "WirelessTransmitter" +
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boost::lexical_cast<std::string>(i) +
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boost::lexical_cast<std::string>(j);
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SpawnWirelessTransmitterSensor(modelName, sensorName,
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math::Vector3(i, j, 0.25), math::Vector3(0, 0, 0),
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"osrf", 2450.0, power, gain);
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sensors::WirelessTransmitterPtr tx =
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std::static_pointer_cast<sensors::WirelessTransmitter>(
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sensors::SensorManager::Instance()->GetSensor(sensorName));
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EXPECT_TRUE(this->HasEntity(modelName));
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EXPECT_TRUE(tx != NULL);
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}
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}
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}
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/////////////////////////////////////////////////
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INSTANTIATE_TEST_CASE_P(TestTransceiverODE, SpawnModels,
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::testing::Values("ode"));
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/////////////////////////////////////////////////
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#ifdef HAVE_BULLET
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INSTANTIATE_TEST_CASE_P(TestTransceiverBullet, SpawnModels,
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::testing::Values("bullet"));
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#endif // HAVE_BULLET
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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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