==============================================================================
| 59 | |
| 60 | //============================================================================== |
| 61 | TEST(World, AddingAndRemovingSkeletons) |
| 62 | { |
| 63 | // World |
| 64 | WorldPtr world = World::create(); |
| 65 | |
| 66 | //-------------------- Test World::removeSkeleton() ------------------------ |
| 67 | SkeletonPtr skeleton1 = createThreeLinkRobot( |
| 68 | Eigen::Vector3d(1.0, 1.0, 1.0), |
| 69 | DOF_X, |
| 70 | Eigen::Vector3d(1.0, 1.0, 1.0), |
| 71 | DOF_Y, |
| 72 | Eigen::Vector3d(1.0, 1.0, 1.0), |
| 73 | DOF_Z, |
| 74 | false, |
| 75 | false); |
| 76 | |
| 77 | SkeletonPtr skeleton2 = createThreeLinkRobot( |
| 78 | Eigen::Vector3d(1.0, 1.0, 1.0), |
| 79 | DOF_X, |
| 80 | Eigen::Vector3d(1.0, 1.0, 1.0), |
| 81 | DOF_Y, |
| 82 | Eigen::Vector3d(1.0, 1.0, 1.0), |
| 83 | DOF_Z, |
| 84 | false, |
| 85 | false); |
| 86 | |
| 87 | SkeletonPtr skeleton3 = createThreeLinkRobot( |
| 88 | Eigen::Vector3d(1.0, 1.0, 1.0), |
| 89 | DOF_X, |
| 90 | Eigen::Vector3d(1.0, 1.0, 1.0), |
| 91 | DOF_Y, |
| 92 | Eigen::Vector3d(1.0, 1.0, 1.0), |
| 93 | DOF_Z, |
| 94 | false, |
| 95 | false); |
| 96 | |
| 97 | SkeletonPtr skeleton4 = createThreeLinkRobot( |
| 98 | Eigen::Vector3d(1.0, 1.0, 1.0), |
| 99 | DOF_X, |
| 100 | Eigen::Vector3d(1.0, 1.0, 1.0), |
| 101 | DOF_Y, |
| 102 | Eigen::Vector3d(1.0, 1.0, 1.0), |
| 103 | DOF_Z, |
| 104 | false, |
| 105 | false); |
| 106 | |
| 107 | int nSteps = 20; |
| 108 | |
| 109 | // Empty world |
| 110 | for (int i = 0; i < nSteps; ++i) |
| 111 | world->step(); |
| 112 | |
| 113 | EXPECT_FALSE(world->hasSkeleton(skeleton1)); |
| 114 | EXPECT_FALSE(world->hasSkeleton(skeleton2)); |
| 115 | EXPECT_FALSE(world->hasSkeleton(skeleton3)); |
| 116 | EXPECT_FALSE(world->hasSkeleton(skeleton4)); |
| 117 | |
| 118 | // Add skeleton1, skeleton2 |
nothing calls this directly
no test coverage detected