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Support FreeGroup features for nested models
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
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| /* | ||
| * Copyright (C) 2021 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 <gtest/gtest.h> | ||
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| #include <tuple> | ||
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| #include <ignition/common/Util.hh> | ||
| #include <ignition/math/Vector3.hh> | ||
| #include <ignition/math/eigen3/Conversions.hh> | ||
| #include <ignition/plugin/Loader.hh> | ||
| #include <sdf/Root.hh> | ||
| #include <sdf/World.hh> | ||
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| #include "ignition/physics/FrameSemantics.hh" | ||
| #include "ignition/physics/FreeGroup.hh" | ||
| #include "ignition/physics/GetEntities.hh" | ||
| #include "ignition/physics/RequestEngine.hh" | ||
| #include "ignition/physics/sdf/ConstructModel.hh" | ||
| #include "ignition/physics/sdf/ConstructNestedModel.hh" | ||
| #include "ignition/physics/sdf/ConstructWorld.hh" | ||
| #include "test/Utils.hh" | ||
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| struct TestFeatureList : ignition::physics::FeatureList< | ||
| ignition::physics::sdf::ConstructSdfWorld, | ||
| ignition::physics::sdf::ConstructSdfModel, | ||
| ignition::physics::sdf::ConstructSdfNestedModel, | ||
| ignition::physics::GetWorldFromEngine, | ||
| ignition::physics::GetModelFromWorld, | ||
| ignition::physics::GetNestedModelFromModel, | ||
| ignition::physics::GetLinkFromModel, | ||
| ignition::physics::LinkFrameSemantics, | ||
| ignition::physics::FindFreeGroupFeature, | ||
| ignition::physics::SetFreeGroupWorldPose > { }; | ||
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| using World = ignition::physics::World3d<TestFeatureList>; | ||
| using WorldPtr = ignition::physics::World3dPtr<TestFeatureList>; | ||
| using ModelPtr = ignition::physics::Model3dPtr<TestFeatureList>; | ||
| using LinkPtr = ignition::physics::Link3dPtr<TestFeatureList>; | ||
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| ///////////////////////////////////////////////// | ||
| auto LoadEngine() | ||
| { | ||
| ignition::plugin::Loader loader; | ||
| loader.LoadLib(dartsim_plugin_LIB); | ||
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| ignition::plugin::PluginPtr dartsim = | ||
| loader.Instantiate("ignition::physics::dartsim::Plugin"); | ||
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| auto engine = | ||
| ignition::physics::RequestEngine3d<TestFeatureList>::From(dartsim); | ||
| return engine; | ||
| } | ||
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| ///////////////////////////////////////////////// | ||
| WorldPtr LoadWorld(const std::string &_world) | ||
| { | ||
| auto engine = LoadEngine(); | ||
| EXPECT_NE(nullptr, engine); | ||
| if (nullptr == engine) | ||
| { | ||
| return nullptr; | ||
| } | ||
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| sdf::Root root; | ||
| const sdf::Errors &errors = root.Load(_world); | ||
| EXPECT_EQ(0u, errors.size()) << errors; | ||
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| EXPECT_EQ(1u, root.WorldCount()); | ||
| const sdf::World *sdfWorld = root.WorldByIndex(0); | ||
| EXPECT_NE(nullptr, sdfWorld); | ||
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| auto world = engine->ConstructWorld(*sdfWorld); | ||
| EXPECT_NE(nullptr, world); | ||
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| return world; | ||
| } | ||
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| ModelPtr GetModelFromAbsoluteName(const WorldPtr &_world, | ||
| const std::string &_absoluteName) | ||
| { | ||
| std::vector<std::string> names = | ||
| ignition::common::split(_absoluteName, sdf::kSdfScopeDelimiter); | ||
| if (names.empty()) | ||
| { | ||
| return nullptr; | ||
| } | ||
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| auto currentModel = _world->GetModel(names.front()); | ||
| for (std::size_t i = 1; i < names.size(); ++i) | ||
| { | ||
| if (nullptr == currentModel) | ||
| return nullptr; | ||
| currentModel = currentModel->GetNestedModel(names[i]); | ||
| } | ||
| return currentModel; | ||
| } | ||
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| TEST(FreeGroupFeatures, NestedFreeGroup) | ||
| { | ||
| WorldPtr world = LoadWorld(TEST_WORLD_DIR "world_with_nested_model.sdf"); | ||
| ASSERT_NE(nullptr, world); | ||
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| auto checkFreeGroupForModel = [&](const std::string &_modelName) | ||
| { | ||
| auto model = GetModelFromAbsoluteName(world, _modelName); | ||
| if (nullptr == model) | ||
| return testing::AssertionFailure() << "Model could not be found"; | ||
| auto freeGroup = model->FindFreeGroup(); | ||
| if (nullptr == freeGroup) | ||
| return testing::AssertionFailure() << "Freegroup could not be found"; | ||
| if (nullptr == freeGroup) | ||
| return testing::AssertionFailure() << "CanonicalLink could not be found"; | ||
| return testing::AssertionSuccess(); | ||
| }; | ||
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| EXPECT_TRUE(checkFreeGroupForModel("parent_model")); | ||
| // Expect false because the link in nested_model is referenced by a joint. | ||
| EXPECT_FALSE(checkFreeGroupForModel("parent_model::nested_model")); | ||
| EXPECT_TRUE(checkFreeGroupForModel("parent_model::nested_model2")); | ||
| EXPECT_TRUE(checkFreeGroupForModel("parent_model::nested_model3")); | ||
| } | ||
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| TEST(FreeGroupFeatures, NestedFreeGroupSetWorldPose) | ||
| { | ||
| WorldPtr world = LoadWorld(TEST_WORLD_DIR "world_with_nested_model.sdf"); | ||
| ASSERT_NE(nullptr, world); | ||
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| ignition::math::Pose3d parentModelNewPose(0, 0, 2, 0, 0, 0); | ||
| { | ||
| auto parentModel = world->GetModel("parent_model"); | ||
| ASSERT_NE(nullptr, parentModel); | ||
| auto freeGroup = parentModel->FindFreeGroup(); | ||
| ASSERT_NE(nullptr, freeGroup); | ||
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| freeGroup->SetWorldPose( | ||
| ignition::math::eigen3::convert(parentModelNewPose)); | ||
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| auto link1 = parentModel->GetLink("link1"); | ||
| ASSERT_NE(nullptr, link1); | ||
| auto frameData = link1->FrameDataRelativeToWorld(); | ||
| EXPECT_EQ(parentModelNewPose, | ||
| ignition::math::eigen3::convert(frameData.pose)); | ||
| } | ||
| { | ||
| auto nestedModel = | ||
| GetModelFromAbsoluteName(world, "parent_model::nested_model"); | ||
| ASSERT_NE(nullptr, nestedModel); | ||
| auto nestedLink1 = nestedModel->GetLink("nested_link1"); | ||
| ASSERT_NE(nullptr, nestedLink1); | ||
| auto frameData = nestedLink1->FrameDataRelativeToWorld(); | ||
| // Poses from SDF | ||
| ignition::math::Pose3d nestedModelPose(1, 2, 2, 0, 0, 0); | ||
| ignition::math::Pose3d nestedLinkPose(3, 1, 1, 0, 0, IGN_PI_2); | ||
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| ignition::math::Pose3d nestedLinkExpectedPose = | ||
| parentModelNewPose * nestedModelPose * nestedLinkPose; | ||
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| EXPECT_EQ(nestedLinkExpectedPose, | ||
| ignition::math::eigen3::convert(frameData.pose)); | ||
| } | ||
| { | ||
| auto parentModel = world->GetModel("parent_model2"); | ||
| ASSERT_NE(nullptr, parentModel); | ||
| auto freeGroup = parentModel->FindFreeGroup(); | ||
| ASSERT_NE(nullptr, freeGroup); | ||
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| freeGroup->SetWorldPose( | ||
| ignition::math::eigen3::convert(parentModelNewPose)); | ||
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| auto grandChild = GetModelFromAbsoluteName( | ||
| world, "parent_model2::child_model::grand_child_model"); | ||
| ASSERT_NE(nullptr, grandChild); | ||
| auto link1 = grandChild->GetLink("link1"); | ||
| ASSERT_NE(nullptr, link1); | ||
| auto frameData = link1->FrameDataRelativeToWorld(); | ||
| EXPECT_EQ(parentModelNewPose, | ||
| ignition::math::eigen3::convert(frameData.pose)); | ||
| } | ||
| } |
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