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Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

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PiperOrigin-RevId: 935980153
Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
This commit is contained in:
Kyle Bayes
2026-06-22 04:18:29 -07:00
committed by Copybara-Service
parent 34d142ee50
commit 1490336955
39 changed files with 4616 additions and 5908 deletions
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test/plugin/elasticity/elasticity_test.cc
+14 -17
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@@ -28,7 +28,6 @@ namespace {
using ElasticityTest = MujocoTest;
// -------------------------------- cable -----------------------------------
TEST_F(ElasticityTest, CantileverIntoCircle) {
#ifdef mjUSESINGLE
@@ -66,25 +65,24 @@ TEST_F(ElasticityTest, CantileverIntoCircle) {
char error[1024] = {0};
mjModel* m = LoadModelFromString(cantilever_xml, error, sizeof(error));
ASSERT_THAT(m, testing::NotNull()) << error;
mjData* d = mj_makeData(m);
MjModelPtr m = LoadModelFromString(cantilever_xml, error, sizeof(error));
ASSERT_THAT(m.get(), testing::NotNull()) << error;
MjDataPtr d = MakeData(m);
// see Oliver Weeger, Sai-Kit Yeung, Martin L. Dunn, "Isogeometric collocation methods for Cosserat rods and rod
// structures", section 7.1 (DOI: j.cma.2016.05.009), the torque for achieving an angle phi is phi * E * Iy.
// see Oliver Weeger, Sai-Kit Yeung, Martin L. Dunn, "Isogeometric collocation
// methods for Cosserat rods and rod structures", section 7.1 (DOI:
// j.cma.2016.05.009), the torque for achieving an angle phi is phi * E * Iy.
mjtNum Iy = mjPI * pow(0.005, 4) / 4;
mjtNum torque = 2 * mjPI * 1e9 * Iy;
for (int i=0; i < 1300; i++) {
for (int i = 0; i < 1300; i++) {
if (i < 300) {
d->ctrl[0] += torque / 300;
}
mj_step(m, d);
mj_step(m.get(), d.get());
}
EXPECT_NEAR(d->sensordata[0], 0, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(d->sensordata[1], 0, std::numeric_limits<float>::epsilon());
EXPECT_NEAR(d->sensordata[2], 1, std::numeric_limits<float>::epsilon());
mj_deleteData(d);
mj_deleteModel(m);
}
TEST_F(ElasticityTest, InvalidTxtAttribute) {
@@ -106,8 +104,8 @@ TEST_F(ElasticityTest, InvalidTxtAttribute) {
char error[1024] = {0};
mjModel* m = LoadModelFromString(cantilever_xml, error, sizeof(error));
ASSERT_THAT(m, testing::IsNull());
MjModelPtr m = LoadModelFromString(cantilever_xml, error, sizeof(error));
ASSERT_THAT(m.get(), testing::IsNull());
}
TEST_F(ElasticityTest, InvalidMixedAttribute) {
@@ -129,8 +127,8 @@ TEST_F(ElasticityTest, InvalidMixedAttribute) {
char error[1024] = {0};
mjModel* m = LoadModelFromString(cantilever_xml, error, sizeof(error));
ASSERT_THAT(m, testing::IsNull());
MjModelPtr m = LoadModelFromString(cantilever_xml, error, sizeof(error));
ASSERT_THAT(m.get(), testing::IsNull());
}
TEST_F(ElasticityTest, ValidAttributes) {
@@ -152,9 +150,8 @@ TEST_F(ElasticityTest, ValidAttributes) {
char error[1024] = {0};
mjModel* m = LoadModelFromString(cantilever_xml, error, sizeof(error));
ASSERT_THAT(m, testing::NotNull()) << error;
mj_deleteModel(m);
MjModelPtr m = LoadModelFromString(cantilever_xml, error, sizeof(error));
ASSERT_THAT(m.get(), testing::NotNull()) << error;
}
} // namespace