review feedback for integration test

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>
gazebosim · May 11, 2021 · 3b80549 · 3b80549
1 parent 982f840
commit 3b80549
Showing 1 changed file with 8 additions and 7 deletions.
diff --git a/test/integration/physics_system.cc b/test/integration/physics_system.cc
@@ -1324,7 +1324,7 @@ TEST_F(PhysicsSystemFixture, NestedModelIndividualCanonicalLinks)
   EXPECT_EQ(6u, postUpModelPoses.size());
 
   auto modelIt = postUpModelPoses.find("model_00");
-  EXPECT_NE(postUpModelPoses.end(), modelIt);
+  ASSERT_NE(postUpModelPoses.end(), modelIt);
 
   // link_00 is resting on the ground_box, so it remains stationary. And since
   // it is the canonical link of the parent model, model_00, the model frame
@@ -1338,25 +1338,26 @@ TEST_F(PhysicsSystemFixture, NestedModelIndividualCanonicalLinks)
   const double dt = 0.001;
   const double zExpected = 0.5 * world->Gravity().Z() * pow(dt * iters, 2);
   modelIt = postUpModelPoses.find("model_01");
-  EXPECT_NE(postUpModelPoses.end(), modelIt);
+  ASSERT_NE(postUpModelPoses.end(), modelIt);
   EXPECT_NEAR(zExpected, modelIt->second.Z(), 1e-2);
 
-  // model_10, model_11 and model_12 share the same canonical link (link_11),
-  // which is a floating link. So, link_11 should fall due to gravity, which
+  // model_10, model_11 and model_12 share the same canonical link (link_12),
+  // which is a floating link. So, link_12 should fall due to gravity, which
   // also means that the frames for model_10, model_11 and model_12 should fall
   auto model10It = postUpModelPoses.find("model_10");
-  EXPECT_NE(postUpModelPoses.end(), model10It);
+  ASSERT_NE(postUpModelPoses.end(), model10It);
   EXPECT_NEAR(zExpected, model10It->second.Z(), 1e-2);
   auto model11It = postUpModelPoses.find("model_11");
-  EXPECT_NE(postUpModelPoses.end(), model11It);
+  ASSERT_NE(postUpModelPoses.end(), model11It);
   auto model12It = postUpModelPoses.find("model_12");
-  EXPECT_NE(postUpModelPoses.end(), model12It);
+  ASSERT_NE(postUpModelPoses.end(), model12It);
   // (since model_11 and model_12 are nested, their poses are computed w.r.t.
   // model_10)
   EXPECT_DOUBLE_EQ(0.0, model11It->second.Z());
   EXPECT_DOUBLE_EQ(0.0, model12It->second.Z());
   // check the world pose of model_11 and model_12 to make sure the z components
   // of these world poses match zExpected
+  ASSERT_NE(nullptr, ecm);
   const auto model11Entity =
     ecm->EntityByComponents(components::Name(model11It->first));
   ASSERT_NE(kNullEntity, model11Entity);