Yuval Tassa
b397b3123e
PiperOrigin-RevId: 527512624 Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
46 lines
1.4 KiB
C++
46 lines
1.4 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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// Tests for sensor plugins.
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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 <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 SensorPluginTest = MujocoTest;
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static const char* const kTOuchGridPath =
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"plugin/sensor/testdata/touch_grid_test.xml";
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TEST_F(SensorPluginTest, ValidAttributes) {
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const std::string xml_path = GetTestDataFilePath(kTOuchGridPath);
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char error[1024] = {0};
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
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ASSERT_THAT(model, testing::NotNull()) << error;
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int nchannel = 3;
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int size_x = 6;
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int size_y = 2;
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EXPECT_THAT(model->sensor_dim[0], nchannel * size_x * size_y);
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mj_deleteModel(model);
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}
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} // namespace
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} // namespace mujoco
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