Alessio Quaglino
a3e49d582e
PiperOrigin-RevId: 604937231 Change-Id: Ib8a2105ce6c0500d6a610258b46f192d9e73169d
58 lines
1.5 KiB
C++
58 lines
1.5 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_api.cc.
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include "src/user/user_api.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::HasSubstr;
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// ----------------------------- test set/get --------------------------------
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TEST_F(MujocoTest, ReadWriteData) {
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void* model = mjm_createModel();
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mjmBody* world = mjm_findBody(model, "world");
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mjmBody* body = mjm_addBody(world, 0);
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mjmSite* site = mjm_addSite(body, 0);
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{
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double vec[10] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
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const char* str = "sitename";
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mjm_setString(site->name, str);
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mjm_setDouble(site->userdata, vec, 10);
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}
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EXPECT_THAT(mjm_getString(site->name), HasSubstr("sitename"));
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int nsize;
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const double* vec = mjm_getDouble(site->userdata, &nsize);
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for (int i = 0; i < nsize; ++i) {
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EXPECT_EQ(vec[i], i);
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}
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mjm_deleteModel(model);
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}
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} // namespace
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} // namespace mujoco
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