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Using alias Pose instead of full type name, added check for parent el…
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…ement pointer, fixed typo

Signed-off-by: Aaron Chong <[email protected]>
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@aaronchongth
aaronchongth committed Aug 27, 2021
1 parent fbe2193 commit 6f148fa
Showing 1 changed file with 24 additions and 28 deletions.
52 changes: 24 additions & 28 deletions test/integration/pose_1_9_sdf.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -147,10 +147,10 @@ TEST(Pose1_9, PoseElementSetAndGet)
poseElem->AddValue("pose", "0 0 0 0 0 0", true);
poseElem->AddAttribute("relative_to", "string", "", false);
poseElem->AddAttribute("degrees", "bool", "false", false);
poseElem->Set<ignition::math::Pose3d>(Pose(1, 2, 3, 0.4, 0.5, 0.6));
poseElem->Set<Pose>(Pose(1, 2, 3, 0.4, 0.5, 0.6));

Pose elemVal;
ASSERT_TRUE(poseElem->Get<ignition::math::Pose3d>("", elemVal, Pose()));
ASSERT_TRUE(poseElem->Get<Pose>("", elemVal, Pose()));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), elemVal);
}

Expand All @@ -164,13 +164,13 @@ TEST(Pose1_9, PoseElementSetAndParamGet)
poseElem->AddValue("pose", "0 0 0 0 0 0", true);
poseElem->AddAttribute("relative_to", "string", "", false);
poseElem->AddAttribute("degrees", "bool", "false", false);
poseElem->Set<ignition::math::Pose3d>(Pose(1, 2, 3, 0.4, 0.5, 0.6));
poseElem->Set<Pose>(Pose(1, 2, 3, 0.4, 0.5, 0.6));

sdf::ParamPtr poseValueParam = poseElem->GetValue();
ASSERT_NE(nullptr, poseValueParam);

Pose paramVal;
ASSERT_TRUE(poseValueParam->Get<ignition::math::Pose3d>(paramVal));
ASSERT_TRUE(poseValueParam->Get<Pose>(paramVal));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), paramVal);
}

Expand All @@ -188,11 +188,10 @@ TEST(Pose1_9, PoseParamSetAndGet)
sdf::ParamPtr poseValueParam = poseElem->GetValue();
ASSERT_NE(nullptr, poseValueParam);

ASSERT_TRUE(poseValueParam->Set<ignition::math::Pose3d>(
Pose(1, 2, 3, 0.4, 0.5, 0.6)));
ASSERT_TRUE(poseValueParam->Set<Pose>(Pose(1, 2, 3, 0.4, 0.5, 0.6)));

Pose paramVal;
ASSERT_TRUE(poseValueParam->Get<ignition::math::Pose3d>(paramVal));
ASSERT_TRUE(poseValueParam->Get<Pose>(paramVal));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), paramVal);
}

Expand All @@ -213,7 +212,7 @@ TEST(Pose1_9, PoseParamSetFromStringAndGet)
ASSERT_TRUE(poseValueParam->SetFromString("1 2 3 0.4 0.5 0.6"));

Pose paramVal;
ASSERT_TRUE(poseValueParam->Get<ignition::math::Pose3d>(paramVal));
ASSERT_TRUE(poseValueParam->Get<Pose>(paramVal));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), paramVal);
}

Expand All @@ -231,11 +230,10 @@ TEST(Pose1_9, PoseParamSetAndElemGet)
sdf::ParamPtr poseValueParam = poseElem->GetValue();
ASSERT_NE(nullptr, poseValueParam);

ASSERT_TRUE(poseValueParam->Set<ignition::math::Pose3d>(
Pose(1, 2, 3, 0.4, 0.5, 0.6)));
ASSERT_TRUE(poseValueParam->Set<Pose>(Pose(1, 2, 3, 0.4, 0.5, 0.6)));

Pose elemVal;
ASSERT_TRUE(poseElem->Get<ignition::math::Pose3d>("", elemVal, Pose()));
ASSERT_TRUE(poseElem->Get<Pose>("", elemVal, Pose()));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), elemVal);
}

Expand All @@ -253,14 +251,13 @@ TEST(Pose1_9, PoseParamSetAndParentElemGet)
sdf::ParamPtr poseValueParam = poseElem->GetValue();
ASSERT_NE(nullptr, poseValueParam);

ASSERT_TRUE(poseValueParam->Set<ignition::math::Pose3d>(
Pose(1, 2, 3, 0.4, 0.5, 0.6)));
ASSERT_TRUE(poseValueParam->Set<Pose>(Pose(1, 2, 3, 0.4, 0.5, 0.6)));

sdf::ElementPtr parentElem = poseValueParam->GetParentElement();
ASSERT_NE(nullptr, parentElem);
EXPECT_EQ(poseElem, parentElem);
Pose parentElemVal;
ASSERT_TRUE(parentElem->Get<ignition::math::Pose3d>(
"", parentElemVal, Pose()));
ASSERT_TRUE(parentElem->Get<Pose>("", parentElemVal, Pose()));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), parentElemVal);
}

Expand All @@ -278,8 +275,7 @@ TEST(Pose1_9, ChangingParentPoseElementAfterSet)
poseElem->AddValue("pose", "0 0 0 0 0 0", true);
poseElem->AddAttribute("relative_to", "string", "", false);
poseElem->AddAttribute("degrees", "bool", "false", false);
ASSERT_TRUE(poseElem->Set<ignition::math::Pose3d>(
Pose(1, 2, 3, 0.4, 0.5, 0.6)));
ASSERT_TRUE(poseElem->Set<Pose>(Pose(1, 2, 3, 0.4, 0.5, 0.6)));

sdf::ElementPtr degreesPoseElem(new sdf::Element);
degreesPoseElem->SetName("pose");
Expand All @@ -298,17 +294,17 @@ TEST(Pose1_9, ChangingParentPoseElementAfterSet)
ASSERT_NE(nullptr, valParam);

Pose val;
ASSERT_TRUE(valParam->Get<ignition::math::Pose3d>(val));
ASSERT_TRUE(valParam->Get<Pose>(val));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);

// Set parent to Element with degrees attribute true.
valParam->SetParentElement(degreesPoseElem);
ASSERT_TRUE(valParam->Get<ignition::math::Pose3d>(val));
ASSERT_TRUE(valParam->Get<Pose>(val));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);

// Set parent to Element with degrees attribute false.
valParam->SetParentElement(radiansPoseElem);
ASSERT_TRUE(valParam->Get<ignition::math::Pose3d>(val));
ASSERT_TRUE(valParam->Get<Pose>(val));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);

// Remove parent
Expand All @@ -317,7 +313,7 @@ TEST(Pose1_9, ChangingParentPoseElementAfterSet)
}

//////////////////////////////////////////////////
TEST(Pose1_9, ChangingParentPoseElementAfteriParamSetFromString)
TEST(Pose1_9, ChangingParentPoseElementAfterParamSetFromString)
{
// Since the values are set using the SetFromString function, reparsing
// should change their values, when parent elements have been changed.
Expand Down Expand Up @@ -349,17 +345,17 @@ TEST(Pose1_9, ChangingParentPoseElementAfteriParamSetFromString)
ASSERT_TRUE(valParam->SetFromString("1, 2, 3, 0.4, 0.5, 0.6"));

Pose val;
ASSERT_TRUE(valParam->Get<ignition::math::Pose3d>(val));
ASSERT_TRUE(valParam->Get<Pose>(val));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);

// Set parent to Element with degrees attribute true.
valParam->SetParentElement(degreesPoseElem);
ASSERT_TRUE(valParam->Get<ignition::math::Pose3d>(val));
ASSERT_TRUE(valParam->Get<Pose>(val));
EXPECT_EQ(Pose(1, 2, 3, 0.4 * pi / 180, 0.5 * pi / 180, 0.6 * pi / 180), val);

// Set parent to Element with degrees attribute false.
valParam->SetParentElement(radiansPoseElem);
ASSERT_TRUE(valParam->Get<ignition::math::Pose3d>(val));
ASSERT_TRUE(valParam->Get<Pose>(val));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);

// Remove parent
Expand All @@ -385,24 +381,24 @@ TEST(Pose1_9, ChangingAttributeOfParentElement)
ASSERT_TRUE(valParam->SetFromString("1, 2, 3, 0.4, 0.5, 0.6"));

Pose val;
ASSERT_TRUE(valParam->Get<ignition::math::Pose3d>(val));
ASSERT_TRUE(valParam->Get<Pose>(val));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);

// Changing to degrees without reparsing, value will remain the same
sdf::ParamPtr degreesAttrib = poseElem->GetAttribute("degrees");
ASSERT_NE(nullptr, degreesAttrib);
ASSERT_TRUE(degreesAttrib->Set<bool>(true));
ASSERT_TRUE(valParam->Get<ignition::math::Pose3d>(val));
ASSERT_TRUE(valParam->Get<Pose>(val));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);

// Values will change to be degrees after reparsing
ASSERT_TRUE(valParam->Reparse());
ASSERT_TRUE(valParam->Get<ignition::math::Pose3d>(val));
ASSERT_TRUE(valParam->Get<Pose>(val));
EXPECT_EQ(Pose(1, 2, 3, 0.4 * pi / 180, 0.5 * pi / 180, 0.6 * pi / 180), val);

// Changing back to radians
ASSERT_TRUE(degreesAttrib->Set<bool>(false));
ASSERT_TRUE(valParam->Reparse());
ASSERT_TRUE(valParam->Get<ignition::math::Pose3d>(val));
ASSERT_TRUE(valParam->Get<Pose>(val));
EXPECT_EQ(Pose(1, 2, 3, 0.4, 0.5, 0.6), val);
}

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