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/*
* Copyright (c) 2011-2022, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <iostream>
#include <gtest/gtest.h>
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/RevoluteJoint.hpp"
#include "dart/dynamics/Skeleton.hpp"
#include "dart/math/Geometry.hpp"
#include "dart/simulation/World.hpp"
#include "TestHelpers.hpp"
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace simulation;
/******************************************************************************/
TEST(BUILDING, BASIC)
{
// Skeletons
SkeletonPtr skel1 = Skeleton::create();
std::pair<RevoluteJoint*, BodyNode*> pair;
BodyNode *body1, *body2, *body3;
RevoluteJoint *joint1, *joint2, *joint3;
pair = skel1->createJointAndBodyNodePair<RevoluteJoint>(nullptr);
joint1 = pair.first;
body1 = pair.second;
pair = body1->createChildJointAndBodyNodePair<RevoluteJoint>();
joint2 = pair.first;
body2 = pair.second;
pair = body2->createChildJointAndBodyNodePair<RevoluteJoint>();
joint3 = pair.first;
body3 = pair.second;
// Joints
joint1->setTransformFromParentBodyNode(Eigen::Isometry3d::Identity());
joint1->setTransformFromChildBodyNode(Eigen::Isometry3d::Identity());
joint1->setAxis(Eigen::Vector3d(1.0, 0.0, 0.0));
joint2->setTransformFromParentBodyNode(Eigen::Isometry3d::Identity());
joint2->setTransformFromChildBodyNode(Eigen::Isometry3d::Identity());
joint2->setAxis(Eigen::Vector3d(1.0, 0.0, 0.0));
joint3->setTransformFromParentBodyNode(Eigen::Isometry3d::Identity());
joint3->setTransformFromChildBodyNode(Eigen::Isometry3d::Identity());
joint3->setAxis(Eigen::Vector3d(1.0, 0.0, 0.0));
// World
WorldPtr world = World::create();
world->addSkeleton(skel1);
//--------------------------------------------------------------------------
//
//--------------------------------------------------------------------------
EXPECT_TRUE(body1->getParentBodyNode() == nullptr);
EXPECT_TRUE(body1->getNumChildBodyNodes() == 1);
EXPECT_TRUE(body1->getChildBodyNode(0) == body2);
EXPECT_TRUE(body2->getParentBodyNode() == body1);
EXPECT_TRUE(body2->getNumChildBodyNodes() == 1);
EXPECT_TRUE(body2->getChildBodyNode(0) == body3);
EXPECT_TRUE(body3->getParentBodyNode() == body2);
EXPECT_TRUE(body3->getNumChildBodyNodes() == 0);
// EXPECT_TRUE(body3->getChildBodyNode(0) == nullptr);
EXPECT_TRUE(skel1->getNumBodyNodes() == 3);
EXPECT_TRUE(skel1->getNumDofs() == 3);
EXPECT_TRUE(world->getNumSkeletons() == 1);
int nSteps = 20;
for (int i = 0; i < nSteps; ++i)
world->step();
}
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