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Add tests for kv param in position actuators

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This commit is contained in:
Bálint Hodossy
2024-05-27 12:11:15 +01:00
parent 2aa30b188c
commit 45ccc2a6df
1 changed files with 10 additions and 6 deletions
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unity/Tests/Editor/Components/MjActuatorTests.cs
+10 -6
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@@ -279,19 +279,22 @@ public class MjPositionActuatorTests {
Assert.That(_doc.OuterXml, Does.Contain($"<position")); Assert.That(_doc.OuterXml, Does.Contain($"<position"));
} }
[TestCase(3, "3")] [TestCase(3, 2, "3", "2")]
[TestCase(-2, "2")] [TestCase(-2, -1, "2", "1")]
public void BiasParamsMjcf(float value, string expected) { public void BiasParamsMjcf(float valueP, float valueV, string expectedP, string expectedV) {
_actuator.CustomParams.Kp = value; _actuator.CustomParams.Kp = valueP;
_actuator.CustomParams.Kvp = valueV;
_doc.AppendChild(_actuator.GenerateMjcf("name", _doc)); _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
Assert.That(_doc.OuterXml, Does.Contain($"kp=\"{expected}\"")); Assert.That(_doc.OuterXml, Does.Contain($"kp=\"{expectedP}\""));
Assert.That(_doc.OuterXml, Does.Contain($"kv=\"{expectedV}\""));
} }
[Test] [Test]
public void ParseAllSettings() { public void ParseAllSettings() {
_doc.LoadXml("<position joint=\"my_joint\" kp=\"2\"/>"); _doc.LoadXml("<position joint=\"my_joint\" kp=\"2\" kv=\"1\"/>");
_actuator.ParseMjcf(_doc.GetElementsByTagName("position")[0] as XmlElement); _actuator.ParseMjcf(_doc.GetElementsByTagName("position")[0] as XmlElement);
Assert.That(_actuator.CustomParams.Kp, Is.EqualTo(2)); Assert.That(_actuator.CustomParams.Kp, Is.EqualTo(2));
Assert.That(_actuator.CustomParams.Kvp, Is.EqualTo(1));
} }
[Test] [Test]
@@ -299,6 +302,7 @@ public class MjPositionActuatorTests {
_doc.LoadXml("<position joint=\"my_joint\"/>"); _doc.LoadXml("<position joint=\"my_joint\"/>");
_actuator.ParseMjcf(_doc.GetElementsByTagName("position")[0] as XmlElement); _actuator.ParseMjcf(_doc.GetElementsByTagName("position")[0] as XmlElement);
Assert.That(_actuator.CustomParams.Kp, Is.EqualTo(1)); Assert.That(_actuator.CustomParams.Kp, Is.EqualTo(1));
Assert.That(_actuator.CustomParams.Kvp, Is.EqualTo(0));
} }
} }