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Added world features common tests (#414)
Signed-off-by: ahcorde <[email protected]>
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| /* | ||
| * Copyright (C) 2022 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 <gtest/gtest.h> | ||
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| #include <gz/common/Console.hh> | ||
| #include <gz/plugin/Loader.hh> | ||
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| #include "../helpers/TestLibLoader.hh" | ||
| #include "../Utils.hh" | ||
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| #include <gz/physics/FindFeatures.hh> | ||
| #include <gz/physics/ForwardStep.hh> | ||
| #include <gz/physics/FrameSemantics.hh> | ||
| #include <gz/physics/GetEntities.hh> | ||
| #include <gz/physics/RequestEngine.hh> | ||
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| #include <gz/physics/World.hh> | ||
| #include <gz/physics/sdf/ConstructWorld.hh> | ||
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| #include <sdf/Root.hh> | ||
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| // A predicate-formatter for asserting that two vectors are approximately equal. | ||
| class AssertVectorApprox | ||
| { | ||
| public: explicit AssertVectorApprox(double _tol = 1e-6) : tol(_tol) | ||
| { | ||
| } | ||
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| public: ::testing::AssertionResult operator()( | ||
| const char *_mExpr, const char *_nExpr, Eigen::Vector3d _m, | ||
| Eigen::Vector3d _n) | ||
| { | ||
| if (gz::physics::test::Equal(_m, _n, this->tol)) | ||
| return ::testing::AssertionSuccess(); | ||
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| return ::testing::AssertionFailure() | ||
| << _mExpr << " and " << _nExpr << " ([" << _m.transpose() | ||
| << "] and [" << _n.transpose() << "]" | ||
| << ") are not equal"; | ||
| } | ||
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| private: double tol; | ||
| }; | ||
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| template <class T> | ||
| class WorldFeaturesTest: | ||
| public testing::Test, public gz::physics::TestLibLoader | ||
| { | ||
| // Documentation inherited | ||
| public: void SetUp() override | ||
| { | ||
| gz::common::Console::SetVerbosity(4); | ||
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| loader.LoadLib(WorldFeaturesTest::GetLibToTest()); | ||
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| // TODO(ahcorde): We should also run the 3f, 2d, and 2f variants of | ||
| // FindFeatures | ||
| pluginNames = gz::physics::FindFeatures3d<T>::From(loader); | ||
| if (pluginNames.empty()) | ||
| { | ||
| std::cerr << "No plugins with required features found in " | ||
| << GetLibToTest() << std::endl; | ||
| GTEST_SKIP(); | ||
| } | ||
| } | ||
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| public: std::set<std::string> pluginNames; | ||
| public: gz::plugin::Loader loader; | ||
| }; | ||
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| using GravityFeatures = gz::physics::FeatureList< | ||
| gz::physics::GetEngineInfo, | ||
| gz::physics::Gravity, | ||
| gz::physics::sdf::ConstructSdfWorld, | ||
| gz::physics::LinkFrameSemantics, | ||
| gz::physics::GetModelFromWorld, | ||
| gz::physics::GetLinkFromModel, | ||
| gz::physics::ForwardStep | ||
| >; | ||
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| using GravityFeaturesTestTypes = | ||
| ::testing::Types<GravityFeatures>; | ||
| TYPED_TEST_SUITE(WorldFeaturesTest, | ||
| GravityFeatures); | ||
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| ///////////////////////////////////////////////// | ||
| TYPED_TEST(WorldFeaturesTest, GravityFeatures) | ||
| { | ||
| for (const std::string &name : this->pluginNames) | ||
| { | ||
| std::cout << "Testing plugin: " << name << std::endl; | ||
| gz::plugin::PluginPtr plugin = this->loader.Instantiate(name); | ||
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| auto engine = gz::physics::RequestEngine3d<GravityFeatures>::From(plugin); | ||
| ASSERT_NE(nullptr, engine); | ||
| EXPECT_TRUE(engine->GetName().find(this->PhysicsEngineName(name)) != | ||
| std::string::npos); | ||
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| sdf::Root root; | ||
| const sdf::Errors errors = root.Load( | ||
| gz::common::joinPaths(TEST_WORLD_DIR, "falling.world")); | ||
| EXPECT_TRUE(errors.empty()) << errors; | ||
| const sdf::World *sdfWorld = root.WorldByIndex(0); | ||
| EXPECT_NE(nullptr, sdfWorld); | ||
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| auto world = engine->ConstructWorld(*root.WorldByIndex(0)); | ||
| EXPECT_NE(nullptr, world); | ||
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| auto graphErrors = sdfWorld->ValidateGraphs(); | ||
| EXPECT_EQ(0u, graphErrors.size()) << graphErrors; | ||
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| Eigen::Vector3d gravity = {0, 0, -9.8}; | ||
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| AssertVectorApprox vectorPredicate(1e-6); | ||
| EXPECT_PRED_FORMAT2(vectorPredicate, gravity, | ||
| world->GetGravity()); | ||
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| world->SetGravity({8, 4, 3}); | ||
| EXPECT_PRED_FORMAT2(vectorPredicate, Eigen::Vector3d(8, 4, 3), | ||
| world->GetGravity()); | ||
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| world->SetGravity(gravity); | ||
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| auto model = world->GetModel("sphere"); | ||
| ASSERT_NE(nullptr, model); | ||
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| auto link = model->GetLink(0); | ||
| ASSERT_NE(nullptr, link); | ||
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| AssertVectorApprox vectorPredicate10(1e-10); | ||
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| // initial link pose | ||
| const Eigen::Vector3d initialLinkPosition(0, 0, 2); | ||
| { | ||
| Eigen::Vector3d pos = link->FrameDataRelativeToWorld().pose.translation(); | ||
| EXPECT_PRED_FORMAT2(vectorPredicate10, | ||
| initialLinkPosition, | ||
| pos); | ||
| } | ||
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| auto linkFrameID = link->GetFrameID(); | ||
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| // Get default gravity in link frame, which is pitched by pi/4 | ||
| EXPECT_PRED_FORMAT2(vectorPredicate10, | ||
| Eigen::Vector3d(6.92964645563, 0, -6.92964645563), | ||
| world->GetGravity(linkFrameID)); | ||
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| // set gravity along X axis of linked frame, which is pitched by pi/4 | ||
| world->SetGravity(Eigen::Vector3d(1.4142135624, 0, 0), linkFrameID); | ||
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| EXPECT_PRED_FORMAT2(vectorPredicate10, | ||
| Eigen::Vector3d(1, 0, -1), | ||
| world->GetGravity()); | ||
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| // test other SetGravity API | ||
| // set gravity along Z axis of linked frame, which is pitched by pi/4 | ||
| gz::physics::RelativeForce3d relativeGravity( | ||
| linkFrameID, Eigen::Vector3d(0, 0, 1.4142135624)); | ||
| world->SetGravity(relativeGravity); | ||
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| EXPECT_PRED_FORMAT2(vectorPredicate10, | ||
| Eigen::Vector3d(1, 0, 1), | ||
| world->GetGravity()); | ||
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| // Confirm that changed gravity direction affects pose of link | ||
| gz::physics::ForwardStep::Input input; | ||
| gz::physics::ForwardStep::State state; | ||
| gz::physics::ForwardStep::Output output; | ||
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| const size_t numSteps = 1000; | ||
| for (size_t i = 0; i < numSteps; ++i) | ||
| { | ||
| world->Step(output, state, input); | ||
| } | ||
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| AssertVectorApprox vectorPredicate3(1e-3); | ||
| { | ||
| Eigen::Vector3d pos = link->FrameDataRelativeToWorld().pose.translation(); | ||
| EXPECT_PRED_FORMAT2(vectorPredicate3, | ||
| Eigen::Vector3d(0.5, 0, 2.5), | ||
| pos); | ||
| } | ||
| } | ||
| } | ||
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| int main(int argc, char *argv[]) | ||
| { | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
| if(!WorldFeaturesTest<GravityFeatures>::init(argc, argv)) | ||
| return -1; | ||
| return RUN_ALL_TESTS(); | ||
| } |