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Allow height-field elevation data to be specified in XML.

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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
This commit is contained in:
Yuval Tassa
2024-01-29 06:58:30 -08:00
committed by Copybara-Service
parent e6847f843d
commit e143b3dbc0
16 changed files with 258 additions and 35 deletions
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test/xml/xml_native_writer_test.cc
+44
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@@ -43,6 +43,7 @@ namespace {
using ::testing::HasSubstr;
using ::testing::Not;
using ::testing::NotNull;
using ::testing::FloatEq;
using XMLWriterTest = PluginTest;
@@ -828,6 +829,49 @@ TEST_F(XMLWriterTest, WritesSkin) {
mj_deleteModel(mtemp);
}
TEST_F(XMLWriterTest, WritesHfield) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<hfield name="hf" nrow="3" ncol="2" size="0.5 0.5 1 0.1"
elevation="1 2
3 4
5 6"/>
</asset>
</mujoco>
)";
// load model
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
int size = model->hfield_nrow[0]*model->hfield_ncol[0];
EXPECT_EQ(size, 6);
// save and read, compare data
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
ASSERT_THAT(mtemp, NotNull());
for (int i = 0; i < size; ++i) {
EXPECT_THAT(mtemp->hfield_data[i], FloatEq(model->hfield_data[i]));
}
mj_deleteModel(mtemp);
// modify data, save read and compare
model->hfield_data[0] = 0.25;
model->hfield_data[1] = 0.0;
model->hfield_data[2] = 0.5;
model->hfield_data[3] = 0.0;
model->hfield_data[4] = 1.0;
model->hfield_data[5] = 0.0;
mtemp = LoadModelFromString(SaveAndReadXml(model));
ASSERT_THAT(mtemp, NotNull());
for (int i = 0; i < size; ++i) {
EXPECT_THAT(mtemp->hfield_data[i], FloatEq(model->hfield_data[i]));
}
mj_deleteModel(mtemp);
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, SpringlengthOneValue) {
static constexpr char xml[] = R"(
<mujoco>