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Add tree traversal utilities to C API.

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PiperOrigin-RevId: 639285787
Change-Id: Ieb52da87fb5e1c674985f03c9ff2b18783d1d657
This commit is contained in:
Alessio Quaglino
2024-06-01 01:26:05 -07:00
committed by Copybara-Service
parent 936866be0f
commit 14a3ce5ffa
5 changed files with 112 additions and 2 deletions
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test/user/user_api_test.cc
+37 -2
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@@ -36,9 +36,9 @@ using ::testing::HasSubstr;
using ::testing::NotNull;
// ----------------------------- test set/get ---------------------------------
// -------------------------- test model manipulation -------------------------
TEST_F(MujocoTest, ReadWriteData) {
TEST_F(MujocoTest, GetSetData) {
mjSpec* spec = mjs_createSpec();
mjsBody* world = mjs_findBody(spec, "world");
mjsBody* body = mjs_addBody(world, 0);
@@ -63,6 +63,41 @@ TEST_F(MujocoTest, ReadWriteData) {
mjs_deleteSpec(spec);
}
TEST_F(MujocoTest, TreeTraversal) {
mjSpec* spec = mjs_createSpec();
mjsBody* world = mjs_findBody(spec, "world");
mjsBody* body = mjs_addBody(world, 0);
mjsSite* site1 = mjs_addSite(body, 0);
mjsGeom* geom1 = mjs_addGeom(body, 0);
mjsGeom* geom2 = mjs_addGeom(body, 0);
mjsSite* site2 = mjs_addSite(body, 0);
mjsSite* site3 = mjs_addSite(body, 0);
mjsGeom* geom3 = mjs_addGeom(body, 0);
mjElement* t_el1 = mjs_firstChild(body, mjOBJ_TENDON);
mjElement* s_el1 = mjs_firstChild(body, mjOBJ_SITE);
mjElement* s_el2 = mjs_nextChild(body, s_el1);
mjElement* s_el3 = mjs_nextChild(body, s_el2);
mjElement* s_el4 = mjs_nextChild(body, s_el3);
mjElement* g_el1 = mjs_firstChild(body, mjOBJ_GEOM);
mjElement* g_el2 = mjs_nextChild(body, g_el1);
mjElement* g_el3 = mjs_nextChild(body, g_el2);
mjElement* g_el4 = mjs_nextChild(body, g_el3);
EXPECT_EQ(t_el1, nullptr);
EXPECT_EQ(s_el1, site1->element);
EXPECT_EQ(s_el2, site2->element);
EXPECT_EQ(s_el3, site3->element);
EXPECT_EQ(g_el1, geom1->element);
EXPECT_EQ(g_el2, geom2->element);
EXPECT_EQ(g_el3, geom3->element);
EXPECT_EQ(g_el4, nullptr);
EXPECT_EQ(s_el4, nullptr);
mjs_deleteSpec(spec);
}
// ------------------- test recompilation multiple files -----------------------
TEST_F(PluginTest, RecompileCompare) {
mjtNum tol = 0;