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Test that mj_resetDataKeyframe treats negative keyframe IDs as a normal reset.

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PiperOrigin-RevId: 607655812
Change-Id: Ia9bb1031468f04e8f9563b9228a46983356dafef
This commit is contained in:
Nimrod Gileadi
2024-02-16 05:07:57 -08:00
committed by Copybara-Service
parent 05150546e3
commit f1d4f8f0a1
6 changed files with 27 additions and 5 deletions
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test/user/user_objects_test.cc
+22
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@@ -433,6 +433,28 @@ TEST_F(KeyframeTest, ResetDataKeyframe) {
mj_deleteModel(model);
}
TEST_F(KeyframeTest, ResetDataKeyframeAcceptsNegativeKeyframe) {
const std::string xml_path = GetTestDataFilePath(kKeyframePath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
ASSERT_THAT(model, NotNull());
mjData* data = mj_makeData(model);
data->time = data->qpos[0] = data->qvel[0] = data->act[0] = data->ctrl[0] =
data->mocap_pos[0] = data->mocap_quat[0] = 1337.0;
mj_resetDataKeyframe(model, data, -1);
EXPECT_EQ(data->time, 0.0);
EXPECT_EQ(data->qpos[0], 0.0);
EXPECT_EQ(data->qvel[0], 0.0);
EXPECT_EQ(data->act[0], 0.0);
EXPECT_EQ(data->ctrl[0], 0.0);
EXPECT_EQ(data->mocap_pos[0], 0.0);
EXPECT_EQ(data->mocap_quat[0], 1.0);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(KeyframeTest, BadSize) {
static constexpr char xml[] = R"(
<mujoco>