69 lines
2.0 KiB
C++
69 lines
2.0 KiB
C++
/*
|
|
* Copyright (C) 2015 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance 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 <string>
|
|
|
|
#include "gazebo/test/ServerFixture.hh"
|
|
#include "gazebo/physics/physics.hh"
|
|
#include "gazebo/test/helper_physics_generator.hh"
|
|
|
|
using namespace gazebo;
|
|
|
|
class SwarmTest : public ServerFixture,
|
|
public testing::WithParamInterface<const char*>
|
|
{
|
|
public: void FlockingWorld(const std::string &_physicsEngine);
|
|
};
|
|
|
|
////////////////////////////////////////////////////////////////////////
|
|
// FlockingWorld:
|
|
// Load a world with 1001 robots
|
|
//////////////////////////////////////////////////////////////////////////
|
|
void SwarmTest::FlockingWorld(const std::string &_physicsEngine)
|
|
{
|
|
// Load an empty world
|
|
Load("worlds/flocking.world", true, _physicsEngine);
|
|
physics::WorldPtr world = physics::get_world("default");
|
|
ASSERT_TRUE(world != NULL);
|
|
|
|
// Verify physics engine type
|
|
physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
|
|
ASSERT_TRUE(physics != NULL);
|
|
EXPECT_EQ(physics->GetType(), _physicsEngine);
|
|
|
|
// simulate 1 step
|
|
world->Step(1);
|
|
double t = world->GetSimTime().Double();
|
|
// verify that time moves forward
|
|
EXPECT_GT(t, 0);
|
|
|
|
EXPECT_EQ(world->GetModels().size(), 1003u);
|
|
}
|
|
|
|
TEST_P(SwarmTest, FlockingWorld)
|
|
{
|
|
FlockingWorld(GetParam());
|
|
}
|
|
|
|
INSTANTIATE_TEST_CASE_P(PhysicsEngines, SwarmTest, PHYSICS_ENGINE_VALUES);
|
|
|
|
int main(int argc, char **argv)
|
|
{
|
|
::testing::InitGoogleTest(&argc, argv);
|
|
return RUN_ALL_TESTS();
|
|
}
|