Matthew Bennice
4b983e8439
PiperOrigin-RevId: 558887266 Change-Id: I201978bfa5e6cfa2f4e495feaecf61374baf7b7b
61 lines
1.7 KiB
C++
61 lines
1.7 KiB
C++
// Copyright 2023 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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#include "src/engine/engine_util_container.h"
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#include <array>
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#include <mujoco/mjdata.h>
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#include <gmock/gmock.h>
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#include <gtest/gtest.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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TEST(TestMjArrayList, TestMjArrayListSingleThreaded) {
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constexpr char xml[] = "<mujoco/>";
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std::array<char, 1024> error;
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mjModel* m = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(m, testing::NotNull()) << "Failed to load model: "
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<< error.data();
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mjData* d = mj_makeData(m);
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mjMARKSTACK;
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mjArrayList* array_list = mju_arrayListCreate(d, sizeof(int), 10);
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for (int i = 0; i < 35; ++i) {
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mju_arrayListAdd(array_list, &i);
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}
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EXPECT_EQ(mju_arrayListSize(array_list), 35);
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// Approximately (3 * sizeof(int) + 3 * sizeof(mjArrayList)) / sizeof(mjtNum)
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// However there is padding for alignment/etc.
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EXPECT_EQ(d->maxuse_stack, 54);
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for (int i = 0; i < 35; ++i) {
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EXPECT_EQ(*(int*)mju_arrayListAt(array_list, i), i);
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}
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EXPECT_TRUE(mju_arrayListAt(array_list, 100) == NULL);
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mjFREESTACK;
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mj_deleteData(d);
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mj_deleteModel(m);
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}
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} // namespace
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} // namespace mujoco
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