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// Copyright 2019 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.
using System;
using System.Collections;
using System.Collections.Generic;
using System.Xml;
using NUnit.Framework;
using UnityEngine;
namespace Mujoco {
[TestFixture]
public class MjBaseSensorTests {
public class MjMockSensor : MjBaseSensor {
protected override XmlElement ToMjcf(XmlDocument doc) {
return doc.CreateElement("sensor");
}
protected override void FromMjcf(XmlElement mjcf) {}
}
private MjMockSensor _sensor;
private XmlDocument _doc;
[SetUp]
public void SetUp() {
_sensor = new GameObject("sensor", typeof(MjMockSensor)).GetComponent<MjMockSensor>();
_doc = new XmlDocument();
}
[TearDown]
public void TearDown() {
UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
}
private XmlElement Parse(string mjcfString, string tag) {
_doc.LoadXml(mjcfString);
var elementList = _doc.GetElementsByTagName(tag);
return elementList[0] as XmlElement;
}
[Test]
public void GeneratingNoiseAndCutoffMjcf() {
_sensor.Noise = 2.0f;
_sensor.Cutoff = 3.0f;
_doc.AppendChild(_sensor.GenerateMjcf("name", _doc));
Assert.That(_doc.OuterXml, Does.Contain("noise=\"2\""));
Assert.That(_doc.OuterXml, Does.Contain("cutoff=\"3\""));
}
[Test]
public void ParsingShapePropertiesMjcf() {
var mjcfString = "<sensor noise=\"3\" cutoff=\"4\" actuator=\"actuator\"/>";
var mjcfElement = Parse(mjcfString, "sensor");
_sensor.ParseMjcf(mjcfElement);
Assert.That(_sensor.Noise, Is.EqualTo(3.0f));
Assert.That(_sensor.Cutoff, Is.EqualTo(4.0f));
}
}
}
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