196 lines
7.2 KiB
C++
196 lines
7.2 KiB
C++
/*
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* Copyright (C) 2014 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 <string>
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#include <vector>
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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#include "gazebo/math/Vector3.hh"
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using namespace gazebo;
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class WorldEnvPopulationTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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public: void LoadEnvironment(const std::string &_physicsType);
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public: void EmptyPopulation(const std::string &_physicsType);
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};
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////////////////////////////////////////////////////////////////////////
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// EmptyPopulation: Try to generate a population with an incorrect 'model_count'
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// value.
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////////////////////////////////////////////////////////////////////////
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void WorldEnvPopulationTest::EmptyPopulation(const std::string &/*_physicsEng*/)
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{
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Load("test/worlds/empty_population.world");
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// The models should not load because we are trying to load a population with
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// a non positive 'model_count' value. In any case. let's wait some time to
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// verify it. We should only see two models (ground plane and sun).
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int i = 0;
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int retries = 20;
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while (world->GetModelCount() < 2u && i < retries)
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{
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common::Time::MSleep(100);
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++i;
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}
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ASSERT_GE(i, retries);
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}
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////////////////////////////////////////////////////////////////////////
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// LoadEnvironment: Verify that the number of elements populated is correct
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// and the objects are distributed as expected.
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////////////////////////////////////////////////////////////////////////
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void WorldEnvPopulationTest::LoadEnvironment(const std::string &/*_physicsEng*/)
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{
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Load("worlds/population.world");
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// Wait some time while the models are being loaded.
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int i = 0;
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int retries = 200;
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while (world->GetModelCount() < 65u && i < retries)
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{
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common::Time::MSleep(100);
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++i;
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}
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ASSERT_LT(i, retries);
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// We should have multiple cloned models + the ground plane.
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EXPECT_EQ(world->GetModelCount(), 64u + 1u);
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// Check elements distributed as a grid.
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double tolerance = 0.25;
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math::Vector3 initialPos(-0.25, -0.25 / 2.0, 0);
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math::Vector3 expectedPos(initialPos);
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math::Vector3 step(0.25, 0.25, 0);
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for (int i = 0; i < 2; ++i)
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{
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for (int j = 0; j < 3; ++j)
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{
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std::string name = std::string("can2_clone_" +
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boost::lexical_cast<std::string>(i * 3 + j));
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physics::ModelPtr model = world->GetModel(name);
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ASSERT_TRUE(model != NULL);
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math::Vector3 pos = model->GetWorldPose().pos;
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EXPECT_NEAR(pos.Distance(expectedPos), 0.0, tolerance);
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expectedPos.x += step.x;
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}
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expectedPos.x = initialPos.x;
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expectedPos.y += step.y;
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}
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// Check that the objects are within the expected box.
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std::vector<physics::ModelPtr> models = world->GetModels();
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for (size_t i = 0; i < models.size(); ++i)
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{
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physics::ModelPtr model = models[i];
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ASSERT_TRUE(model != NULL);
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// This is not a cloned object, skip it.
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if (model->GetName().find("can1_clone") != std::string::npos)
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{
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math::Box boundingBox(math::Vector3(2.5, 2.5, 0),
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math::Vector3(3.5, 3.5, 0.1));
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EXPECT_GE(model->GetWorldPose().pos.x, 2.5 - tolerance);
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EXPECT_GE(model->GetWorldPose().pos.y, 2.5 - tolerance);
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EXPECT_GE(model->GetWorldPose().pos.z, 0 - tolerance);
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EXPECT_LE(model->GetWorldPose().pos.x, 3.5 + tolerance);
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EXPECT_LE(model->GetWorldPose().pos.y, 3.5 + tolerance);
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EXPECT_LE(model->GetWorldPose().pos.z, 0.1 + tolerance);
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}
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else if (model->GetName().find("can3_clone") != std::string::npos)
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{
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math::Vector3 centre(-3, 3, 0);
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double radius = 1.0;
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EXPECT_LE(model->GetWorldPose().pos.Distance(centre), radius + tolerance);
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}
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else if (model->GetName().find("can4_clone") != std::string::npos)
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{
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math::Box boundingBox(math::Vector3(-1, -5, 0),
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math::Vector3(3, -3, .01));
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EXPECT_GE(model->GetWorldPose().pos.x, -1 - tolerance);
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EXPECT_GE(model->GetWorldPose().pos.y, -5 - tolerance);
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EXPECT_GE(model->GetWorldPose().pos.z, 0 - tolerance);
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EXPECT_LE(model->GetWorldPose().pos.x, 3 + tolerance);
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EXPECT_LE(model->GetWorldPose().pos.y, -3 + tolerance);
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EXPECT_LE(model->GetWorldPose().pos.z, 0.01 + tolerance);
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}
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else if (model->GetName().find("can5_clone") != std::string::npos)
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{
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math::Vector3 centre(-3, -3, 0);
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double radius = 1.0;
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EXPECT_LE(model->GetWorldPose().pos.Distance(centre), radius + tolerance);
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}
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else if (model->GetName().find("can6_clone") != std::string::npos)
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{
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math::Box boundingBox(math::Vector3(-1, 3.5, 0),
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math::Vector3(1, 4.5, .01));
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EXPECT_GE(model->GetWorldPose().pos.x, -1 - tolerance);
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EXPECT_GE(model->GetWorldPose().pos.z, 0 - tolerance);
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EXPECT_LE(model->GetWorldPose().pos.x, 1 + tolerance);
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EXPECT_LE(model->GetWorldPose().pos.z, 0.01 + tolerance);
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EXPECT_NEAR(model->GetWorldPose().pos.y, 4, tolerance);
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}
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else if (model->GetName().find("can7_clone") != std::string::npos)
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{
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math::Box boundingBox(math::Vector3(-5.5, -2, 0),
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math::Vector3(-4.5, 0, .01));
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EXPECT_GE(model->GetWorldPose().pos.y, -2 - tolerance);
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EXPECT_GE(model->GetWorldPose().pos.z, 0 - tolerance);
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EXPECT_LE(model->GetWorldPose().pos.y, 0 + tolerance);
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EXPECT_LE(model->GetWorldPose().pos.z, 0.01 + tolerance);
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EXPECT_NEAR(model->GetWorldPose().pos.x, -5, tolerance);
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}
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else if (model->GetName().find("can8_clone") != std::string::npos)
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{
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math::Box boundingBox(math::Vector3(3.9, -0.1, 0),
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math::Vector3(4.1, 0.1, 1.4));
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EXPECT_GE(model->GetWorldPose().pos.z, 0 - tolerance);
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EXPECT_LE(model->GetWorldPose().pos.z, 1.4 + tolerance);
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EXPECT_NEAR(model->GetWorldPose().pos.x, 4.0, tolerance);
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EXPECT_NEAR(model->GetWorldPose().pos.y, 0, tolerance);
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}
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}
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}
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////////////////////////////////////////////////////////////////////////
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TEST_P(WorldEnvPopulationTest, EmptyPopulation)
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{
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EmptyPopulation(GetParam());
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}
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////////////////////////////////////////////////////////////////////////
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TEST_P(WorldEnvPopulationTest, LoadEnvironment)
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{
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LoadEnvironment(GetParam());
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}
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, WorldEnvPopulationTest,
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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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