test_init.cpp File Reference

#include "mj_kdl_wrapper/mj_kdl_wrapper.hpp"
#include "common.hpp"
#include "example_paths.hpp"
#include <gtest/gtest.h>
#include <cstdint>
#include <filesystem>
#include <string>
#include <vector>

Go to the source code of this file.

Classes
class	InitTest

Functions
	TEST_F (InitTest, BasicDOF)
	TEST_F (InitTest, SimulationAdvance)
	TEST_F (InitTest, ResetRestoresTheKeyframePose)
	TEST_F (InitTest, ResetOptionsPickTheKeyframeOrTheModelDefault)
	TEST_F (InitTest, ResetSyncsCmdPorts)
	TEST_F (InitTest, ResetRestoresEveryPort)
	TEST_F (InitTest, ResetInvokesOnResetCallback)
	TEST_F (InitTest, ResetWithoutAHookStillReseedsTheRobot)
	TEST_F (InitTest, EnvResetInvokesHookAndSyncsRobot)
	TEST_F (InitTest, ResetKeepsARequestedControlMode)
	TEST_F (InitTest, OnResetPrimesCommandsAndMovesAreReadBack)
	TEST_F (InitTest, CleanupRobotUnregistersIt)
	TEST_F (InitTest, ChainFromOutsideDrivesTheSameJoints)
	TEST (TwoEnvs, StepIndependently)
	TEST (EnvSpec, OwnsItsStringsAcrossARebuild)
	TEST (EnvAdopt, RunsOnTheCallersPairAndNeverFreesIt)
	TEST (SceneFloor, PlacedAtFloorZ)
	TEST (Recorder, OutputPathReachesFfmpegVerbatim)
	TEST (Offscreen, RendersTheSceneIntoABuffer)
	TEST_F (InitTest, AFailureSaysWhy)
	TEST (SceneSpecRequired, AnUnsetFieldFailsTheBuild)
int	main (int argc, char *argv[])

Function Documentation

main()

int main	(	int	argc,
		char *	argv[] )

Definition at line 512 of file test_init.cpp.

TEST() [1/7]

TEST	(	EnvAdopt	,
		RunsOnTheCallersPairAndNeverFreesIt	)

Definition at line 333 of file test_init.cpp.

References mj_kdl::Env::adopt, mj_kdl::cleanup(), mj_kdl::destroy_scene(), mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), mj_kdl::Env::model, mj_kdl::Robot::model, mj_kdl::save_model_xml(), mj_kdl::scene_add_object(), and mj_kdl::step().

TEST() [2/7]

TEST	(	EnvSpec	,
		OwnsItsStringsAcrossARebuild	)

Definition at line 309 of file test_init.cpp.

References mj_kdl::cleanup(), mj_kdl::Env::data, mj_kdl::Status::error, mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), mj_kdl::Robot::n_joints, mj_kdl::SceneSpec::robots, mj_kdl::scene_add_object(), mj_kdl::Env::spec, mj_kdl::step(), and mj_kdl::update().

TEST() [3/7]

TEST	(	Offscreen	,
		RendersTheSceneIntoABuffer	)

Definition at line 429 of file test_init.cpp.

References mj_kdl::SceneSpec::add_floor, mj_kdl::SceneSpec::add_skybox, mj_kdl::cleanup(), mj_kdl::Env::data, mj_kdl::init_env(), mj_kdl::init_offscreen(), mj_kdl::Env::model, mj_kdl::render_rgb(), and mj_kdl::SceneSpec::timestep.

TEST() [4/7]

TEST	(	Recorder	,
		OutputPathReachesFfmpegVerbatim	)

Definition at line 401 of file test_init.cpp.

References mj_kdl::SceneSpec::add_floor, mj_kdl::SceneSpec::add_skybox, mj_kdl::cleanup(), mj_kdl::init_env(), mj_kdl::init_video_recorder(), mj_kdl::Env::model, mj_kdl::record_frame(), and mj_kdl::SceneSpec::timestep.

TEST() [5/7]

TEST	(	SceneFloor	,
		PlacedAtFloorZ	)

Definition at line 377 of file test_init.cpp.

References mj_kdl::SceneSpec::add_floor, mj_kdl::SceneSpec::add_skybox, mj_kdl::build_scene(), mj_kdl::destroy_scene(), mj_kdl::SceneSpec::floor_z, and mj_kdl::SceneSpec::timestep.

TEST() [6/7]

TEST	(	SceneSpecRequired	,
		AnUnsetFieldFailsTheBuild	)

Definition at line 468 of file test_init.cpp.

References mj_kdl::SceneSpec::add_floor, mj_kdl::SceneSpec::add_skybox, mj_kdl::build_scene(), mj_kdl::SceneSpec::cameras, mj_kdl::destroy_scene(), mj_kdl::SceneObject::friction, mj_kdl::CameraSpec::name, mj_kdl::SceneSpec::objects, mj_kdl::CameraSpec::pos, and mj_kdl::SceneSpec::timestep.

TEST() [7/7]

TEST	(	TwoEnvs	,
		StepIndependently	)

Definition at line 275 of file test_init.cpp.

References mj_kdl::SceneSpec::add_floor, mj_kdl::Env::data, KDL::Equal(), mj_kdl::get_body_frame(), mj_kdl_examples::home_q(), mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), KDL::Frame::p, mj_kdl::set_joint_pos(), and mj_kdl::step().

TEST_F() [1/14]

TEST_F	(	InitTest	,
		AFailureSaysWhy	)

Definition at line 450 of file test_init.cpp.

References mj_kdl::BOX, mj_kdl::Status::error, mj_kdl::init_robot_from_mjcf(), mj_kdl::SceneObject::name, mj_kdl::scene_add_object(), mj_kdl::scene_remove_object(), and mj_kdl::SceneObject::shape.

TEST_F() [2/14]

TEST_F	(	InitTest	,
		BasicDOF	)

Definition at line 79 of file test_init.cpp.

TEST_F() [3/14]

TEST_F	(	InitTest	,
		ChainFromOutsideDrivesTheSameJoints	)

Definition at line 252 of file test_init.cpp.

References mj_kdl::Robot::chain, mj_kdl::cleanup(), KDL::Chain::getNrOfSegments(), mj_kdl_examples::home_q(), mj_kdl::init_robot_from_chain(), mj_kdl::RobotPorts::jnt_pos_msr, mj_kdl::Robot::n_joints, mj_kdl::set_joint_pos(), and mj_kdl::update().

TEST_F() [4/14]

TEST_F	(	InitTest	,
		CleanupRobotUnregistersIt	)

Definition at line 239 of file test_init.cpp.

References mj_kdl::cleanup(), and mj_kdl::update().

TEST_F() [5/14]

TEST_F	(	InitTest	,
		EnvResetInvokesHookAndSyncsRobot	)

Definition at line 188 of file test_init.cpp.

References mj_kdl::ResetInfo::keyframe, mj_kdl::reset(), and mj_kdl::ResetInfo::used_keyframe.

TEST_F() [6/14]

TEST_F	(	InitTest	,
		OnResetPrimesCommandsAndMovesAreReadBack	)

Definition at line 228 of file test_init.cpp.

References mj_kdl::reset().

TEST_F() [7/14]

TEST_F	(	InitTest	,
		ResetInvokesOnResetCallback	)

Definition at line 170 of file test_init.cpp.

References mj_kdl::reset().

TEST_F() [8/14]

TEST_F	(	InitTest	,
		ResetKeepsARequestedControlMode	)

Definition at line 217 of file test_init.cpp.

References mj_kdl::reset(), mj_kdl::TORQUE, and mj_kdl::update().

TEST_F() [9/14]

TEST_F	(	InitTest	,
		ResetOptionsPickTheKeyframeOrTheModelDefault	)

Definition at line 109 of file test_init.cpp.

References mj_kdl::ResetInfo::keyframe, mj_kdl::ResetOptions::keyframe, mj_kdl::reset(), mj_kdl::ResetOptions::use_keyframe, and mj_kdl::ResetInfo::used_keyframe.

TEST_F() [10/14]

TEST_F	(	InitTest	,
		ResetRestoresEveryPort	)

Definition at line 148 of file test_init.cpp.

References mj_kdl::reset().

TEST_F() [11/14]

TEST_F	(	InitTest	,
		ResetRestoresTheKeyframePose	)

Definition at line 93 of file test_init.cpp.

References mj_kdl_examples::home_q(), mj_kdl::reset(), mj_kdl::set_joint_pos(), and mj_kdl::step().

TEST_F() [12/14]

TEST_F	(	InitTest	,
		ResetSyncsCmdPorts	)

Definition at line 133 of file test_init.cpp.

References mj_kdl::reset().

TEST_F() [13/14]

TEST_F	(	InitTest	,
		ResetWithoutAHookStillReseedsTheRobot	)

Definition at line 179 of file test_init.cpp.

References mj_kdl::reset(), and mj_kdl::ResetInfo::used_keyframe.

TEST_F() [14/14]

TEST_F	(	InitTest	,
		SimulationAdvance	)

Definition at line 85 of file test_init.cpp.

References mj_kdl_examples::home_q(), mj_kdl::set_joint_pos(), and mj_kdl::step().