1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
|
// 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 MjGeomQuaternionSensorTests {
private MjGeomQuaternionSensor _sensor;
private MjGeom _geom;
private XmlDocument _doc;
[SetUp]
public void SetUp() {
_sensor = new GameObject("MjGeomQuaternionSensorTests_sensor")
.AddComponent<MjGeomQuaternionSensor>();
_geom = new GameObject("MjGeomQuaternionSensorTests_geom").AddComponent<MjGeom>();
_sensor.Geom = _geom;
_doc = new XmlDocument();
}
[TearDown]
public void TearDown() {
UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
UnityEngine.Object.DestroyImmediate(_geom.gameObject);
}
private XmlElement Parse(string mjcfString, string tag) {
_doc.LoadXml(mjcfString);
var elementList = _doc.GetElementsByTagName(tag);
return elementList[0] as XmlElement;
}
public void GenerateSensorName() {
_doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
Assert.That(_doc.OuterXml, Does.Contain("<framequat"));
}
public void GenerateGeomReference() {
var parentNode = (XmlElement)_doc.CreateElement("parent");
_doc.AppendChild(parentNode);
parentNode.AppendChild(_geom.GenerateMjcf("test_geom", _doc));
parentNode.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
Assert.That(_doc.OuterXml, Does.Contain("objname=\"test_geom\""));
}
public void FrameTypeSpecification() {
_doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
Assert.That(
_doc.OuterXml, Does.Not.Contain("objname=\"MjGeomQuaternionSensorTests_geom\""));
}
[Test]
public void FindTheReferencedGeom() {
var mjcfString =
"<sensors><framequat objname=\"MjGeomQuaternionSensorTests_geom\"/></sensors>";
var mjcfElement = Parse(mjcfString, "framequat");
_sensor.Geom = null;
_sensor.ParseMjcf(mjcfElement);
Assert.That(_sensor.Geom, Is.EqualTo(_geom));
}
[Test]
public void ExceptionThrownWhenReferencedBodyNotFoundInScene() {
var mjcfString = "<sensors><framequat objname=\"missing_geom\"/></sensors>";
var mjcfElement = Parse(mjcfString, "framequat");
Assert.That(() => { _sensor.ParseMjcf(mjcfElement); }, Throws.TypeOf<ArgumentException>());
}
}
}
|
