From 751594d1ae5b4a39b51da15fc14cc4b18104e70b Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Mon, 18 Mar 2024 20:13:04 +0000
Subject: [PATCH] update test

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 test/common_test/collisions.cc | 38 +++++++++++++++++-----------------
 1 file changed, 19 insertions(+), 19 deletions(-)

diff --git a/test/common_test/collisions.cc b/test/common_test/collisions.cc
index 98337fe29..c4b81667e 100644
--- a/test/common_test/collisions.cc
+++ b/test/common_test/collisions.cc
@@ -165,19 +165,19 @@ TYPED_TEST_SUITE(CollisionMeshTest,
 
 TYPED_TEST(CollisionMeshTest, MeshDecomposition)
 {
-  // Load a simplified mesh, drop it from some height,
+  // Load an optimized mesh, drop it from some height,
   // and verify it collides with the ground plane
-  std::string modelSimplifiedStr = R"(
+  std::string modelOptimizedStr = R"(
   <sdf version="1.11">
-    <model name="model_simplified">
+    <model name="model_optimized">
       <pose>0 0 2.0 0 0 0</pose>
       <link name="body">
         <collision name="collision">
           <geometry>
-            <mesh simplification="convex_decomposition">
+            <mesh optimization="convex_decomposition">
               <uri>)";
-  modelSimplifiedStr += gz::physics::test::resources::kChassisDae;
-  modelSimplifiedStr += R"(</uri>
+  modelOptimizedStr += gz::physics::test::resources::kChassisDae;
+  modelOptimizedStr += R"(</uri>
             </mesh>
           </geometry>
         </collision>
@@ -214,22 +214,22 @@ TYPED_TEST(CollisionMeshTest, MeshDecomposition)
     // create the chassis model
     {
       sdf::Root root;
-      sdf::Errors errors = root.LoadSdfString(modelSimplifiedStr);
+      sdf::Errors errors = root.LoadSdfString(modelOptimizedStr);
       ASSERT_TRUE(errors.empty()) << errors.front();
       ASSERT_NE(nullptr, root.Model());
       world->ConstructModel(*root.Model());
     }
-    const std::string modelSimplifiedName{"model_simplified"};
+    const std::string modelOptimizedName{"model_optimized"};
     const std::string bodyName{"body"};
-    auto modelSimplified = world->GetModel(modelSimplifiedName);
-    auto modelSimplifiedBody = modelSimplified->GetLink(bodyName);
+    auto modelOptimized = world->GetModel(modelOptimizedName);
+    auto modelOptimizedBody = modelOptimized->GetLink(bodyName);
 
-    auto frameDataModelSimplifiedBody =
-        modelSimplifiedBody->FrameDataRelativeToWorld();
+    auto frameDataModelOptimizedBody =
+        modelOptimizedBody->FrameDataRelativeToWorld();
 
-    const gz::math::Pose3d initialModelSimplifiedPose(0, 0, 2, 0, 0, 0);
-    EXPECT_EQ(initialModelSimplifiedPose,
-              gz::math::eigen3::convert(frameDataModelSimplifiedBody.pose));
+    const gz::math::Pose3d initialModelOptimizedPose(0, 0, 2, 0, 0, 0);
+    EXPECT_EQ(initialModelOptimizedPose,
+              gz::math::eigen3::convert(frameDataModelOptimizedBody.pose));
 
     // After a while, the mesh model should reach the ground and come to a stop
     gz::physics::ForwardStep::Output output;
@@ -239,11 +239,11 @@ TYPED_TEST(CollisionMeshTest, MeshDecomposition)
     for (unsigned int i = 0; i < stepCount; ++i)
       world->Step(output, state, input);
 
-    frameDataModelSimplifiedBody =
-        modelSimplifiedBody->FrameDataRelativeToWorld();
+    frameDataModelOptimizedBody =
+        modelOptimizedBody->FrameDataRelativeToWorld();
     EXPECT_NEAR(0.1,
-                frameDataModelSimplifiedBody.pose.translation().z(), 1e-3);
-    EXPECT_NEAR(0.0, frameDataModelSimplifiedBody.linearVelocity.z(), 1e-3);
+                frameDataModelOptimizedBody.pose.translation().z(), 1e-3);
+    EXPECT_NEAR(0.0, frameDataModelOptimizedBody.linearVelocity.z(), 1e-3);
   }
 }