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# Copyright 2022 DeepMind Technologies Limited
#
# 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.
# ==============================================================================
"""Tests for functions.py."""
from absl.testing import absltest
from google3.third_party.mujoco.introspect import ast_nodes
from google3.third_party.mujoco.introspect import functions
from google3.third_party.mujoco.introspect import type_parsing
class FunctionsTest(absltest.TestCase):
def test_mj_copyData(self): # pylint: disable=invalid-name
func_decl = functions.FUNCTIONS['mj_copyData']
self.assertEqual(func_decl.name, 'mj_copyData')
self.assertEqual(func_decl.return_type, type_parsing.parse_type('mjData*'))
self.assertEqual(
func_decl.parameters,
(ast_nodes.FunctionParameterDecl(
name='dest', type=type_parsing.parse_type('mjData*')),
ast_nodes.FunctionParameterDecl(
name='m', type=type_parsing.parse_type('const mjModel*')),
ast_nodes.FunctionParameterDecl(
name='src', type=type_parsing.parse_type('const mjData*'))))
self.assertEqual(
func_decl.doc, 'Copy mjData. '
'm is only required to contain the size fields from MJMODEL_INTS.')
def test_mju_transformSpatial(self): # pylint: disable=invalid-name
func_decl = functions.FUNCTIONS['mju_transformSpatial']
self.assertEqual(func_decl.name, 'mju_transformSpatial')
self.assertEqual(func_decl.return_type, type_parsing.parse_type('void'))
self.assertEqual(
func_decl.parameters,
(ast_nodes.FunctionParameterDecl(
name='res', type=type_parsing.parse_type('mjtNum[6]')),
ast_nodes.FunctionParameterDecl(
name='vec', type=type_parsing.parse_type('const mjtNum[6]')),
ast_nodes.FunctionParameterDecl(
name='flg_force', type=type_parsing.parse_type('int')),
ast_nodes.FunctionParameterDecl(
name='newpos', type=type_parsing.parse_type('const mjtNum[3]')),
ast_nodes.FunctionParameterDecl(
name='oldpos', type=type_parsing.parse_type('const mjtNum[3]')),
ast_nodes.FunctionParameterDecl(
name='rotnew2old',
type=type_parsing.parse_type('const mjtNum[9]'))))
self.assertEqual(
func_decl.doc, 'Coordinate transform of 6D motion or force vector in ' +
'rotation:translation format. rotnew2old is 3-by-3, ' +
'NULL means no rotation; flg_force specifies force or motion type.')
if __name__ == '__main__':
absltest.main()
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