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Improve island-constraint testing model.

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PiperOrigin-RevId: 561931744
Change-Id: I2826d4c5b987cc6edd761026f6734fe40fb31278
This commit is contained in:
Yuval Tassa
2023-09-01 05:51:26 -07:00
committed by Copybara-Service
parent 5279ce6f6f
commit 70c5fa50f2
5 changed files with 45 additions and 24 deletions
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test/engine/engine_island_test.cc
+15 -13
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@@ -346,7 +346,7 @@ TEST_F(IslandTest, IslandEfc) {
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
mjData* data = mj_makeData(model);
while (data->time < 0.3) {
while (data->time < 0.2) {
mj_step(model, data);
}
@@ -356,25 +356,27 @@ TEST_F(IslandTest, IslandEfc) {
int nisland = data->nisland;
// expect island structure to correspond to comment at top of xml
EXPECT_EQ(nisland, 2);
EXPECT_EQ(nisland, 3);
EXPECT_EQ(data->ne, 1);
EXPECT_EQ(data->nf, 1);
EXPECT_EQ(data->nf, 2);
EXPECT_EQ(data->nl, 1);
EXPECT_EQ(nefc, 7);
EXPECT_EQ(nefc, 24);
EXPECT_THAT(AsVector(data->dof_island, nv),
ElementsAre(0, -1, 0, 0, 0, 1, 0));
EXPECT_THAT(AsVector(data->island_dofnum, nisland), ElementsAre(5, 1));
EXPECT_THAT(AsVector(data->island_dofadr, nisland), ElementsAre(0, 5));
ElementsAre(0, -1, 0, 0, 0, 1, 2, 0, 1, 1, 1, 1, 1, 1));
EXPECT_THAT(AsVector(data->island_dofnum, nisland), ElementsAre(5, 7, 1));
EXPECT_THAT(AsVector(data->island_dofadr, nisland), ElementsAre(0, 5, 12));
EXPECT_THAT(AsVector(data->island_dofind, nv),
ElementsAre(0, 2, 3, 4, 6, 5, -1));
ElementsAre(0, 2, 3, 4, 7, 5, 8, 9, 10, 11, 12, 13, 6, -1));
EXPECT_THAT(AsVector(data->dof_islandind, nv),
ElementsAre(0, -1, 1, 2, 3, 0, 4));
ElementsAre(0, -1, 1, 2, 3, 0, 0, 4, 1, 2, 3, 4, 5, 6));
EXPECT_THAT(AsVector(data->efc_island, nefc),
ElementsAre(0, 1, 0, 0, 0, 0, 0));
EXPECT_THAT(AsVector(data->island_efcnum, nisland), ElementsAre(6, 1));
EXPECT_THAT(AsVector(data->island_efcadr, nisland), ElementsAre(0, 6));
ElementsAre(0, 1, 2, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1));
EXPECT_THAT(AsVector(data->island_efcnum, nisland), ElementsAre(6, 17, 1));
EXPECT_THAT(AsVector(data->island_efcadr, nisland), ElementsAre(0, 6, 23));
EXPECT_THAT(AsVector(data->island_efcind, nefc),
ElementsAre(0, 2, 3, 4, 5, 6, 1));
ElementsAre(0, 3, 4, 5, 6, 7, 1, 8, 9, 10, 11, 12, 13, 14, 15, 16,
17, 18, 19, 20, 21, 22, 23, 2));
mj_deleteData(data);
mj_deleteModel(model);