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Minor clean up of tests #1289

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Jun 7, 2023
Merged

Minor clean up of tests #1289

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24 changes: 12 additions & 12 deletions src/JointAxis_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -199,9 +199,9 @@ TEST(DOMJointAxis, ToElement)
sdf::ElementPtr xyzElem = elem->GetElement("xyz", errors);
ASSERT_TRUE(errors.empty());
gz::math::Vector3d xyz = elem->Get<gz::math::Vector3d>(
errors, "xyz", xyz).first;
errors, "xyz", gz::math::Vector3d()).first;
ASSERT_TRUE(errors.empty());
EXPECT_EQ(gz::math::Vector3d::UnitY, axis.Xyz());
EXPECT_EQ(gz::math::Vector3d::UnitY, xyz);
std::string expressedIn = elem->GetElement("xyz", errors)->Get<std::string>(
errors, "expressed_in");
ASSERT_TRUE(errors.empty());
Expand All @@ -210,55 +210,55 @@ TEST(DOMJointAxis, ToElement)
sdf::ElementPtr dynElem = elem->GetElement("dynamics", errors);
ASSERT_TRUE(errors.empty());

double damping;
double damping = 0;
damping = dynElem->Get<double>(errors, "damping", damping).first;
ASSERT_TRUE(errors.empty());
EXPECT_DOUBLE_EQ(0.2, damping);

double friction;
double friction = 0;
friction = dynElem->Get<double>(errors, "friction", friction).first;
ASSERT_TRUE(errors.empty());
EXPECT_DOUBLE_EQ(1.3, friction);

double springReference;
double springReference = 0;
springReference = dynElem->Get<double>(
errors, "spring_reference", springReference).first;
ASSERT_TRUE(errors.empty());
EXPECT_DOUBLE_EQ(2.4, springReference);

double springStiffness;
double springStiffness = 0;
springStiffness = dynElem->Get<double>(
errors, "spring_stiffness", springStiffness).first;
ASSERT_TRUE(errors.empty());
EXPECT_DOUBLE_EQ(-1.2, springStiffness);

sdf::ElementPtr limitElem = elem->GetElement("limit", errors);
double lower;
double lower = 0;
lower = limitElem->Get<double>(errors, "lower", lower).first;
ASSERT_TRUE(errors.empty());
EXPECT_DOUBLE_EQ(-10.8, lower);

double upper;
double upper = 0;
upper = limitElem->Get<double>(errors, "upper", upper).first;
ASSERT_TRUE(errors.empty());
EXPECT_DOUBLE_EQ(123.4, upper);

double effort;
double effort = 0;
effort = limitElem->Get<double>(errors, "effort", effort).first;
ASSERT_TRUE(errors.empty());
EXPECT_DOUBLE_EQ(3.2, effort);

double maxVel;
double maxVel = 0;
maxVel = limitElem->Get<double>(errors, "velocity", maxVel).first;
ASSERT_TRUE(errors.empty());
EXPECT_DOUBLE_EQ(54.2, maxVel);

double stiffness;
double stiffness = 0;
stiffness = limitElem->Get<double>(errors, "stiffness", stiffness).first;
ASSERT_TRUE(errors.empty());
EXPECT_DOUBLE_EQ(1e2, stiffness);

double dissipation;
double dissipation = 0;
dissipation = limitElem->Get<double>(
errors, "dissipation", dissipation).first;
ASSERT_TRUE(errors.empty());
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2 changes: 1 addition & 1 deletion test/integration/toml_parser.hh
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Expand Up @@ -136,7 +136,7 @@ struct Document: public Value
Document parseToml(const std::string &_filePath, sdf::Errors &_errors)
{
std::fstream fs;
fs.open(_filePath);
fs.open(_filePath, std::fstream::in);
if (!fs.good())
{
_errors.emplace_back(sdf::ErrorCode::FILE_READ,
Expand Down