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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 MjBodyQuaternionSensorTests {
private MjBodyQuaternionSensor _sensor;
private MjBody _body;
private XmlDocument _doc;
[SetUp]
public void SetUp() {
_sensor = new GameObject("sensor", typeof(MjBodyQuaternionSensor))
.GetComponent<MjBodyQuaternionSensor>();
_body = new GameObject("body", typeof(MjBody)).GetComponent<MjBody>();
_sensor.Body = _body;
_doc = new XmlDocument();
}
[TearDown]
public void TearDown() {
UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
UnityEngine.Object.DestroyImmediate(_body.gameObject);
}
private XmlElement Parse(string mjcfString, string tag) {
_doc.LoadXml(mjcfString);
var elementList = _doc.GetElementsByTagName(tag);
return elementList[0] as XmlElement;
}
[Test]
public void GenerateSensorName() {
_doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
Assert.That(_doc.OuterXml, Does.Contain($"<framequat"));
}
[Test]
public void GenerateBodyReference() {
var parentNode = (XmlElement)_doc.CreateElement("parent");
_doc.AppendChild(parentNode);
parentNode.AppendChild(_body.GenerateMjcf("test_body", _doc));
parentNode.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
Assert.That(_doc.OuterXml, Does.Contain($"objname=\"test_body\""));
}
[TestCase(true, "xbody")]
[TestCase(false, "body")]
public void FrameTypeSpecification(bool useInertial, string expectedValue) {
_sensor.UseInertialFrame = useInertial;
_doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
Assert.That(_doc.OuterXml, Does.Not.Contain($"objname=\"{expectedValue}\""));
}
[Test]
public void ParsingFrameBodyName() {
var mjcfString = $"<sensors><framequat objname=\"body\"/></sensors>";
var mjcfElement = Parse(mjcfString, $"framequat");
_sensor.ParseMjcf(mjcfElement);
Assert.That(_sensor.Body, Is.EqualTo(_body));
}
[Test]
public void ExceptionThrownWhenReferencedBodyNotFoundInScene() {
var mjcfString = $"<sensors><framequat objname=\"missing_body\"/></sensors>";
var mjcfElement = Parse(mjcfString, $"framequat");
Assert.That(() => { _sensor.ParseMjcf(mjcfElement); }, Throws.TypeOf<ArgumentException>());
}
}
}
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