Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
@@ -0,0 +1,54 @@
+// Copyright 2022 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "tuple_tools.h"
+
+#include <tuple>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+
+namespace mujoco::util {
+namespace {
+
+TEST(TupleToolsTest, Slice) {
+  auto tuple = std::make_tuple(2, 3, 5, 7, 11, 13);
+  EXPECT_EQ((tuple_slice<1, 5>(tuple)), std::make_tuple(3, 5, 7, 11));
+  EXPECT_EQ((tuple_slice<2, 3>(tuple)), std::make_tuple(5));
+
+  // negative indices
+  EXPECT_EQ((tuple_slice<1, -2>(tuple)), std::make_tuple(3, 5, 7));
+  EXPECT_EQ((tuple_slice<-4, 6>(tuple)), std::make_tuple(5, 7, 11, 13));
+  EXPECT_EQ((tuple_slice<-3, -1>(tuple)), std::make_tuple(7, 11));
+
+  // empty slices
+  EXPECT_EQ((tuple_slice<0, 0>(tuple)), std::make_tuple());
+  EXPECT_EQ((tuple_slice<3, 3>(tuple)), std::make_tuple());
+  EXPECT_EQ((tuple_slice<-2, -2>(tuple)), std::make_tuple());
+
+  // specify void as the End argument
+  EXPECT_EQ((tuple_slice<2, void>(tuple)), std::make_tuple(5, 7, 11, 13));
+  EXPECT_EQ((tuple_slice<-2, void>(tuple)), std::make_tuple(11, 13));
+
+  // omit the End argument
+  EXPECT_EQ((tuple_slice<2>(tuple)), std::make_tuple(5, 7, 11, 13));
+  EXPECT_EQ((tuple_slice<-2>(tuple)), std::make_tuple(11, 13));
+
+  // empty input tuples
+  EXPECT_EQ((tuple_slice<0>(std::make_tuple())), std::make_tuple());
+  EXPECT_EQ((tuple_slice<0, 0>(std::make_tuple())), std::make_tuple());
+}
+
+}  // namespace
+}  // namespace mujoco::util