Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
61 lines
2.1 KiB
C++
61 lines
2.1 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_TEST_FIXTURE_H_
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#define MUJOCO_TEST_FIXTURE_H_
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#include <gtest/gtest.h>
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#include <absl/strings/string_view.h>
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#include <mujoco/mjmodel.h>
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namespace mujoco {
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// Installs and uninstalls error callbacks on MuJoCo that fail the currently
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// running test if triggered. Prefer the use of MujocoTest, unless using a
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// test fixture is not possible.
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class MujocoErrorTestGuard {
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public:
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// Sets up error and warning callbacks on MuJoCo that will fail the test if
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// triggered.
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MujocoErrorTestGuard();
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// Clears up the callbacks from the constructor.
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~MujocoErrorTestGuard();
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};
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// A test fixture which simplifies writing tests for the MuJoCo C API.
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// By default, any MuJoCo operation which triggers a warning or error will
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// trigger a test failure.
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class MujocoTest : public ::testing::Test {
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private:
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MujocoErrorTestGuard error_guard;
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};
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// Returns a path to a data file, under the mujoco/test directory.
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const std::string GetTestDataFilePath(absl::string_view path);
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// Returns a path to a data file, under the mujoco/model directory.
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const std::string GetModelPath(absl::string_view path);
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// Returns a newly-allocated mjModel, loaded from the contents of xml.
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// On failure returns nullptr and populates the error array if present.
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mjModel* LoadModelFromString(absl::string_view xml, char* error = nullptr,
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int error_size = 0);
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// Returns a string loaded from first saving the model given an input.
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const std::string SaveAndReadXml(const mjModel* model);
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} // namespace mujoco
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#endif // MUJOCO_TEST_FIXTURE_H_
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