//============================================================================== 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()); }
//============================================================================== 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(); }
//============================================================================== 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(); }