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/*
* Copyright (C) 2018 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>
#include <cmath>
#include <iostream>
#include "ignition/math/Sphere.hh"
using namespace ignition;
using namespace math;
/////////////////////////////////////////////////
TEST(SphereTest, Constructor)
{
// Default constructor
{
math::Sphered sphere;
EXPECT_DOUBLE_EQ(0.0, sphere.Radius());
EXPECT_EQ(math::Material(), sphere.Material());
math::Sphered sphere2;
EXPECT_EQ(sphere, sphere2);
}
// Radius constructor
{
math::Sphered sphere(1.0);
EXPECT_DOUBLE_EQ(1.0, sphere.Radius());
EXPECT_EQ(math::Material(), sphere.Material());
math::Sphered sphere2(1.0);
EXPECT_EQ(sphere, sphere2);
}
// Radius and mat
{
math::Sphered sphere(1.0, math::Material(math::MaterialType::WOOD));
EXPECT_DOUBLE_EQ(1.0, sphere.Radius());
EXPECT_EQ(math::Material(math::MaterialType::WOOD), sphere.Material());
math::Sphered sphere2(1.0, math::Material(math::MaterialType::WOOD));
EXPECT_EQ(sphere, sphere2);
}
}
//////////////////////////////////////////////////
TEST(SphereTest, Comparison)
{
const math::Sphered wood(0.1, math::Material(math::MaterialType::WOOD));
{
math::Sphered modified = wood;
EXPECT_EQ(wood, modified);
modified.SetRadius(1.0);
EXPECT_NE(wood, modified);
}
{
math::Sphered modified = wood;
EXPECT_EQ(wood, modified);
modified.SetMaterial(math::Material(math::MaterialType::PINE));
EXPECT_NE(wood, modified);
}
}
//////////////////////////////////////////////////
TEST(SphereTest, Mutators)
{
math::Sphered sphere;
EXPECT_DOUBLE_EQ(0.0, sphere.Radius());
EXPECT_EQ(math::Material(), sphere.Material());
sphere.SetRadius(.123);
sphere.SetMaterial(math::Material(math::MaterialType::PINE));
EXPECT_DOUBLE_EQ(.123, sphere.Radius());
EXPECT_EQ(math::Material(math::MaterialType::PINE), sphere.Material());
}
//////////////////////////////////////////////////
TEST(SphereTest, VolumeAndDensity)
{
double mass = 1.0;
math::Sphered sphere(0.001);
double expectedVolume = (4.0/3.0) * IGN_PI * std::pow(0.001, 3);
EXPECT_DOUBLE_EQ(expectedVolume, sphere.Volume());
double expectedDensity = mass / expectedVolume;
EXPECT_DOUBLE_EQ(expectedDensity, sphere.DensityFromMass(mass));
// Bad density
math::Sphered sphere2;
EXPECT_GT(0.0, sphere2.DensityFromMass(mass));
sphere2.SetRadius(1.0);
EXPECT_GT(0.0, sphere2.DensityFromMass(0.0));
EXPECT_FALSE(sphere.SetDensityFromMass(0.0));
}
//////////////////////////////////////////////////
TEST(SphereTest, Mass)
{
double mass = 2.0;
double r = 0.1;
math::Sphered sphere(r);
EXPECT_TRUE(sphere.SetDensityFromMass(mass));
math::MassMatrix3d massMat;
double ixxIyyIzz = 0.4 * mass * r * r;
math::MassMatrix3d expectedMassMat;
expectedMassMat.SetInertiaMatrix(ixxIyyIzz, ixxIyyIzz, ixxIyyIzz,
0.0, 0.0, 0.0);
expectedMassMat.SetMass(mass);
sphere.MassMatrix(massMat);
EXPECT_EQ(expectedMassMat, massMat);
EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMat.Mass());
}
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