Kyle Bayes
1490336955
PiperOrigin-RevId: 935980153 Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
74 lines
2.1 KiB
C++
74 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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// Tests for user/user_model.cc.
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#include <array>
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#include <cstddef>
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#include <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <absl/strings/str_format.h>
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#include "src/cc/array_safety.h"
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using ::testing::IsNull;
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using ::testing::NotNull;
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using ::testing::HasSubstr;
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using UserCompositeTest = MujocoTest;
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// ------------------------ cable tests ---------------------------------------
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TEST_F(UserCompositeTest, ShapeCanBeOmitted) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<composite type="cable" count="100 1 1" curve="s">
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<geom type="box" size="1 1 1"/>
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</composite>
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</worldbody>
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</mujoco>
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)";
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std::array<char, 1024> error;
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MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
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EXPECT_THAT(m.get(), NotNull()) << error.data();
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}
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TEST_F(UserCompositeTest, InvalidShape) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<composite type="cable" count="100 1 1" curve="s s exp">
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<geom type="box" size="1 1 1"/>
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</composite>
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</worldbody>
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</mujoco>
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)";
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std::array<char, 1024> error;
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MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
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EXPECT_THAT(m.get(), IsNull()) << error.data();
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EXPECT_THAT(error.data(),
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HasSubstr("The curve array contains an invalid shape"));
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}
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} // namespace
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} // namespace mujoco
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