Alessio Quaglino
46e06c4cac
PiperOrigin-RevId: 545454207 Change-Id: I4e93499eaa53e5bc8c8afa682986657cef3ac20f
95 lines
3.2 KiB
C++
95 lines
3.2 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/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mujoco.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, mjVFS* vfs = nullptr);
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// Returns a newly-allocated mjModel, loaded from the contents in model_path.
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// On failure it asserts that model is null.
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mjModel* LoadModelFromPath(const char* model_path);
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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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// Adds control noise.
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std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
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mjtNum ctrlnoise = 0.01);
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// Installs elasticity plugins
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// TODO(quaglino): load all plugins with a macro
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class PluginTest : public MujocoTest {
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public:
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// load plugin library
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PluginTest() : MujocoTest() {
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#if defined(_WIN32) || defined(__CYGWIN__)
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mj_loadPluginLibrary((
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std::string(std::getenv("MUJOCO_PLUGIN_DIR")) +
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std::string("\\elasticity.dll")).c_str());
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#else
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#if defined(__APPLE__)
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mj_loadPluginLibrary((
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std::string(std::getenv("MUJOCO_PLUGIN_DIR")) +
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std::string("/libelasticity.dylib")).c_str());
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#else
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mj_loadPluginLibrary((
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std::string(std::getenv("MUJOCO_PLUGIN_DIR")) +
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std::string("/libelasticity.so")).c_str());
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#endif
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#endif
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}
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};
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} // namespace mujoco
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#endif // MUJOCO_TEST_FIXTURE_H_
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