modify tests

Signed-off-by: Ashton Larkin <[email protected]>
gazebosim · Mar 12, 2021 · a9b33c9 · a9b33c9
1 parent b611545
commit a9b33c9
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Showing 2 changed files with 32 additions and 23 deletions.
diff --git a/dartsim/src/SimulationFeatures_TEST.cc b/dartsim/src/SimulationFeatures_TEST.cc
@@ -97,7 +97,8 @@ std::unordered_set<TestWorldPtr> LoadWorlds(
 /// \param[in] _firstTime Whether this is the very first time this world is
 /// being stepped in (true) or not (false)
 /// \param[in] _numSteps The number of steps to take in _world
-void StepWorld(const TestWorldPtr &_world, bool _firstTime,
+/// \return true if the forward step output was checked, false otherwise
+bool StepWorld(const TestWorldPtr &_world, bool _firstTime,
  const std::size_t _numSteps = 1)
 {
  ignition::physics::ForwardStep::Input input;
@@ -121,10 +122,7 @@ void StepWorld(const TestWorldPtr &_world, bool _firstTime,
  }
  }
 
- if (_firstTime)
- EXPECT_TRUE(checkedOutput);
- else
- EXPECT_FALSE(checkedOutput);
+ return checkedOutput;
 }
 
 class SimulationFeatures_TEST
@@ -144,7 +142,8 @@ TEST_P(SimulationFeatures_TEST, Falling)
 
  for (const auto &world : worlds)
  {
- StepWorld(world, true, 1000);
+ auto checkedOutput =StepWorld(world, true, 1000);
+ EXPECT_TRUE(checkedOutput);
 
  auto link = world->GetModel(0)->GetLink(0);
  auto pos = link->FrameDataRelativeToWorld().pose.translation();
@@ -218,7 +217,8 @@ TEST_P(SimulationFeatures_TEST, CollideBitmasks)
  auto filteredBox = world->GetModel("box_filtered");
  auto collidingBox = world->GetModel("box_colliding");
 
- StepWorld(world, true);
+ auto checkedOutput = StepWorld(world, true);
+ EXPECT_TRUE(checkedOutput);
  auto contacts = world->GetContactsFromLastStep();
  // Only one box (box_colliding) should collide
  EXPECT_EQ(4u, contacts.size());
@@ -230,15 +230,17 @@ TEST_P(SimulationFeatures_TEST, CollideBitmasks)
  // Also test the getter
  EXPECT_EQ(0xF0, collidingShape->GetCollisionFilterMask());
  // Step and make sure there is no collisions
- StepWorld(world, false);
+ checkedOutput = StepWorld(world, false);
+ EXPECT_FALSE(checkedOutput);
  contacts = world->GetContactsFromLastStep();
  EXPECT_EQ(0u, contacts.size());
 
  // Now remove both filter masks (no collision will be filtered)
  // Equivalent to set to 0xFF
  collidingShape->RemoveCollisionFilterMask();
  filteredShape->RemoveCollisionFilterMask();
- StepWorld(world, false);
+ checkedOutput = StepWorld(world, false);
+ EXPECT_FALSE(checkedOutput);
  // Expect both objects to collide
  contacts = world->GetContactsFromLastStep();
  EXPECT_EQ(8u, contacts.size());
@@ -263,10 +265,12 @@ TEST_P(SimulationFeatures_TEST, RetrieveContacts)
  // The first step already has contacts, but the contact force due to the
  // impact does not match the steady-state force generated by the
  // body's weight.
- StepWorld(world, true);
+ auto checkedOutput = StepWorld(world, true);
+ EXPECT_TRUE(checkedOutput);
 
  // After a second step, the contact force reaches steady-state
- StepWorld(world, false);
+ checkedOutput = StepWorld(world, false);
+ EXPECT_FALSE(checkedOutput);
 
  auto contacts = world->GetContactsFromLastStep();
  EXPECT_EQ(4u, contacts.size());

diff --git a/tpe/plugin/src/SimulationFeatures_TEST.cc b/tpe/plugin/src/SimulationFeatures_TEST.cc
@@ -95,7 +95,8 @@ std::unordered_set<TestWorldPtr> LoadWorlds(
 /// \param[in] _firstTime Whether this is the very first time this world is
 /// being stepped in (true) or not (false)
 /// \param[in] _numSteps The number of steps to take in _world
-void StepWorld(const TestWorldPtr &_world, bool _firstTime,
+/// \return true if the forward step output was checked, false otherwise
+bool StepWorld(const TestWorldPtr &_world, bool _firstTime,
  const std::size_t _numSteps = 1)
 {
  ignition::physics::ForwardStep::Input input;
@@ -119,10 +120,7 @@ void StepWorld(const TestWorldPtr &_world, bool _firstTime,
  }
  }
 
- if (_firstTime)
- EXPECT_TRUE(checkedOutput);
- else
- EXPECT_FALSE(checkedOutput);
+ return checkedOutput;
 }
 
 class SimulationFeatures_TEST
@@ -142,7 +140,8 @@ TEST_P(SimulationFeatures_TEST, StepWorld)
 
  for (const auto &world : worlds)
  {
- StepWorld(world, true, 1000);
+ auto checkedOutput = StepWorld(world, true, 1000);
+ EXPECT_TRUE(checkedOutput);
 
  auto model = world->GetModel(0);
  ASSERT_NE(nullptr, model);
@@ -292,7 +291,8 @@ TEST_P(SimulationFeatures_TEST, CollideBitmasks)
  auto filteredBox = world->GetModel("box_filtered");
  auto collidingBox = world->GetModel("box_colliding");
 
- StepWorld(world, true);
+ auto checkedOutput = StepWorld(world, true);
+ EXPECT_TRUE(checkedOutput);
  auto contacts = world->GetContactsFromLastStep();
  // Only box_colliding should collide with box_base
  EXPECT_EQ(1u, contacts.size());
@@ -304,15 +304,17 @@ TEST_P(SimulationFeatures_TEST, CollideBitmasks)
  // Also test the getter
  EXPECT_EQ(0xF0, collidingShape->GetCollisionFilterMask());
  // Step and make sure there are no collisions
- StepWorld(world, false);
+ checkedOutput = StepWorld(world, false);
+ EXPECT_FALSE(checkedOutput);
  contacts = world->GetContactsFromLastStep();
  EXPECT_EQ(0u, contacts.size());
 
  // Now remove both filter masks (no collisions will be filtered)
  // Equivalent to 0xFF
  collidingShape->RemoveCollisionFilterMask();
  filteredShape->RemoveCollisionFilterMask();
- StepWorld(world, false);
+ checkedOutput = StepWorld(world, false);
+ EXPECT_FALSE(checkedOutput);
  // Expect box_filtered and box_colliding to collide with box_base
  contacts = world->GetContactsFromLastStep();
  EXPECT_EQ(2u, contacts.size());
@@ -340,7 +342,8 @@ TEST_P(SimulationFeatures_TEST, RetrieveContacts)
  auto box = world->GetModel("box");
 
  // step and get contacts
- StepWorld(world, true);
+ auto checkedOutput = StepWorld(world, true);
+ EXPECT_TRUE(checkedOutput);
  auto contacts = world->GetContactsFromLastStep();
 
  // large box in the middle should be intersecting with sphere and cylinder
@@ -389,7 +392,8 @@ TEST_P(SimulationFeatures_TEST, RetrieveContacts)
  ignition::math::Pose3d(0, 100, 0.5, 0, 0, 0)));
 
  // step and get contacts
- StepWorld(world, false);
+ checkedOutput = StepWorld(world, false);
+ EXPECT_FALSE(checkedOutput);
  contacts = world->GetContactsFromLastStep();
 
  // large box in the middle should be intersecting with cylinder
@@ -424,7 +428,8 @@ TEST_P(SimulationFeatures_TEST, RetrieveContacts)
  ignition::math::Pose3d(0, -100, 0.5, 0, 0, 0)));
 
  // step and get contacts
- StepWorld(world, false);
+ checkedOutput = StepWorld(world, false);
+ EXPECT_FALSE(checkedOutput);
  contacts = world->GetContactsFromLastStep();
 
  // no entities should be colliding