C++ (Cpp) WorldPtr::getTimeStep Beispiele

Beispiel #1

Datei: testSkelParser.cpp Projekt: jpgr87/dart

//==============================================================================
TEST(SkelParser, EmptyWorld)
{
  WorldPtr world = SkelParser::readWorld(DART_DATA_PATH"skel/test/empty.skel");

  EXPECT_TRUE(world != nullptr);
  EXPECT_EQ(world->getTimeStep(), 0.001);
  EXPECT_EQ(world->getGravity()(0), 0);
  EXPECT_EQ(world->getGravity()(1), 0);
  EXPECT_EQ(world->getGravity()(2), -9.81);
  EXPECT_EQ((int)world->getNumSkeletons(), 0);

  EXPECT_EQ(world->getTime(), 0);
  world->step();
  EXPECT_EQ(world->getTime(), world->getTimeStep());
}

Beispiel #2

Datei: testSkelParser.cpp Projekt: jpgr87/dart

//==============================================================================
TEST(SkelParser, SerialChain)
{
  WorldPtr world = SkelParser::readWorld(
      DART_DATA_PATH"skel/test/serial_chain_ball_joint.skel");

  EXPECT_TRUE(world != nullptr);
  EXPECT_EQ(world->getTimeStep(), 0.001);
  EXPECT_EQ(world->getGravity()(0), 0);
  EXPECT_EQ(world->getGravity()(1), -9.81);
  EXPECT_EQ(world->getGravity()(2), 0);
  EXPECT_EQ(static_cast<int>(world->getNumSkeletons()), 1);

  SkeletonPtr skel1 = world->getSkeleton("skeleton 1");

  EXPECT_EQ(static_cast<int>(skel1->getNumBodyNodes()), 10);

  world->step();
}

Beispiel #3

Datei: testSkelParser.cpp Projekt: jpgr87/dart

//==============================================================================
TEST(SkelParser, SinglePendulum)
{
  WorldPtr world = SkelParser::readWorld(
        DART_DATA_PATH"skel/test/single_pendulum.skel");

  EXPECT_TRUE(world != nullptr);
  EXPECT_EQ(world->getTimeStep(), 0.001);
  EXPECT_EQ(world->getGravity()(0), 0);
  EXPECT_EQ(world->getGravity()(1), -9.81);
  EXPECT_EQ(world->getGravity()(2), 0);
  EXPECT_EQ(static_cast<int>(world->getNumSkeletons()), 1);

  SkeletonPtr skel1 = world->getSkeleton("single_pendulum");

  EXPECT_EQ(static_cast<int>(skel1->getNumBodyNodes()), 1);

  world->step();
}