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Merged in issue_2239 (pull request #3024)
Fix Issue 2239: All links teleport to origin if model has a revolute2 joint. Approved-by: Steven Peters <scpeters@osrfoundation.org> Approved-by: Shane Loretz <sloretz@osrfoundation.org>
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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. | ||
| * | ||
| */ | ||
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| #include <ignition/math/Pose3.hh> | ||
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| #include "gazebo/test/ServerFixture.hh" | ||
| #include "gazebo/test/helper_physics_generator.hh" | ||
| #include "test/integration/joint_test.hh" | ||
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| using namespace gazebo; | ||
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| class Issue2239Test: public JointTest | ||
| { | ||
| /// \brief Spawn a revolute2 joint and test whether the model teleports | ||
| public: void TestRevolute2JointTeleport(const std::string &_physicsEngine); | ||
| }; | ||
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| ///////////////////////////////////////////////// | ||
| void Issue2239Test::TestRevolute2JointTeleport( | ||
| const std::string &_physicsEngine) | ||
| { | ||
| this->Load("worlds/empty.world", true, _physicsEngine); | ||
| physics::WorldPtr world = physics::get_world("default"); | ||
| ASSERT_NE(nullptr, world); | ||
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| // Verify the physics engine | ||
| physics::PhysicsEnginePtr physics = world->Physics(); | ||
| ASSERT_NE(nullptr, physics); | ||
| EXPECT_EQ(physics->GetType(), _physicsEngine); | ||
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| // disable gravity | ||
| physics->SetGravity(ignition::math::Vector3d::Zero); | ||
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| SpawnJointOptions opt; | ||
| opt.type = "revolute2"; | ||
| opt.parentLinkPose.Set(0, 0.1, 0.1, 0, 0, 0); | ||
| opt.childLinkPose.Set(0.1, 0.2, 0.1, 0, 0, 0); | ||
| opt.axis.Set(1, 0, 0); | ||
| opt.wait = common::Time(99, 0); | ||
| physics::JointPtr joint = SpawnJoint(opt); | ||
| ASSERT_NE(nullptr, joint); | ||
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| physics::LinkPtr childLink = joint->GetChild(); | ||
| ASSERT_NE(nullptr, childLink); | ||
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| world->Step(1); | ||
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| const auto childPos = childLink->WorldCoGPose().Pos(); | ||
| const double tolerance = 1e-4; | ||
| // We expect the child link to be in the same position as it was when it was | ||
| // created. The regression is that the child link teleports to the origin. | ||
| EXPECT_NEAR(childPos.X(), opt.childLinkPose.Pos().X(), tolerance); | ||
| EXPECT_NEAR(childPos.Y(), opt.childLinkPose.Pos().Y(), tolerance); | ||
| EXPECT_NEAR(childPos.Z(), opt.childLinkPose.Pos().Z(), tolerance); | ||
| } | ||
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| TEST_P(Issue2239Test, TestRevolute2JointTeleport) | ||
| { | ||
| this->TestRevolute2JointTeleport(this->physicsEngine); | ||
| } | ||
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| INSTANTIATE_TEST_CASE_P(PhysicsEngines, Issue2239Test, | ||
| ::testing::Combine(::testing::Values("ode", "dart"), ::testing::Values(""))); | ||
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| ///////////////////////////////////////////////// | ||
| int main(int argc, char **argv) | ||
| { | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
| return RUN_ALL_TESTS(); | ||
| } |
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