Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Simplify use of FeatureList aliases in tests #493

Draft
wants to merge 1 commit into
base: gz-physics6
Choose a base branch
from
Draft

Simplify use of FeatureList aliases in tests #493

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Simplify use of FeatureList aliases in tests 
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
  • Loading branch information
@azeey
azeey committed Mar 21, 2023
commit 6bb63ee7003d055b02492c783fc6876e33fab612
131 changes: 48 additions & 83 deletions test/common_test/construct_empty_world.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -79,17 +79,16 @@ using FeaturesUpToEmptyWorld = gz::physics::FeatureList<
gz::physics::ConstructEmptyWorldFeature
>;

using ConstructEmptyWorldTestUpToEmptyWorldTypes =
::testing::Types<FeaturesUpToEmptyWorld>;
TYPED_TEST_SUITE(ConstructEmptyWorldTest, ConstructEmptyWorldTestUpToEmptyWorldTypes);
using ConstructEmptyWorldTestFeaturesUpToEmptyWorld =
ConstructEmptyWorldTest<FeaturesUpToEmptyWorld>;

/////////////////////////////////////////////////
TYPED_TEST(ConstructEmptyWorldTest, ConstructUpToEmptyWorld)
TEST_F(ConstructEmptyWorldTestFeaturesUpToEmptyWorld, ConstructUpToEmptyWorld)
{
for (const std::string &name : this->pluginNames)
{
gz::physics::EnginePtr<FeaturePolicy3d, TypeParam> engine;
gz::physics::WorldPtr<FeaturePolicy3d, TypeParam> world;
gz::physics::Engine3dPtr<FeaturesUpToEmptyWorld> engine;
gz::physics::World3dPtr<FeaturesUpToEmptyWorld> world;

this->MakeEmptyWorld(name, engine, world);
}
Expand All @@ -100,23 +99,17 @@ using FeaturesUpToGetWorldFromEngine = gz::physics::FeatureList<
gz::physics::GetWorldFromEngine
>;

template <class T>
class ConstructEmptyWorldTestUpToGetWorldFromEngine :
public ConstructEmptyWorldTest<T>{};

using ConstructEmptyWorldTestUpToGetWorldFromEngineTypes =
::testing::Types<FeaturesUpToGetWorldFromEngine>;
TYPED_TEST_SUITE(ConstructEmptyWorldTestUpToGetWorldFromEngine,
ConstructEmptyWorldTestUpToGetWorldFromEngineTypes);
using ConstructEmptyWorldTestUpToGetWorldFromEngine =
ConstructEmptyWorldTest<FeaturesUpToGetWorldFromEngine>;

/////////////////////////////////////////////////
TYPED_TEST(ConstructEmptyWorldTestUpToGetWorldFromEngine,
ConstructUpToEmptyWorld)
TEST_F(ConstructEmptyWorldTestUpToGetWorldFromEngine,
ConstructUpToEmptyWorld)
{
for (const std::string &name : this->pluginNames)
{
gz::physics::EnginePtr<FeaturePolicy3d, TypeParam> engine;
gz::physics::WorldPtr<FeaturePolicy3d, TypeParam> world;
gz::physics::Engine3dPtr<FeaturesUpToGetWorldFromEngine> engine;
gz::physics::World3dPtr<FeaturesUpToGetWorldFromEngine> world;
this->MakeEmptyWorld(name, engine, world);

EXPECT_EQ("empty world", world->GetName());
Expand All @@ -129,22 +122,17 @@ using FeaturesUpToEmptyModelFeature = gz::physics::FeatureList<
gz::physics::ConstructEmptyModelFeature
>;

template <class T>
class ConstructEmptyWorldTestUpToEmptyModelFeature :
public ConstructEmptyWorldTest<T>{};
using ConstructEmptyWorldTestUpToEmptyModelFeatureTypes =
::testing::Types<FeaturesUpToEmptyModelFeature>;
TYPED_TEST_SUITE(ConstructEmptyWorldTestUpToEmptyModelFeature,
ConstructEmptyWorldTestUpToEmptyModelFeatureTypes);
using ConstructEmptyWorldTestUpToEmptyModelFeature =
ConstructEmptyWorldTest<FeaturesUpToEmptyModelFeature>;

/////////////////////////////////////////////////
TYPED_TEST(ConstructEmptyWorldTestUpToEmptyModelFeature,
ConstructUpToEmptyWorld)
TEST_F(ConstructEmptyWorldTestUpToEmptyModelFeature,
ConstructUpToEmptyWorld)
{
for (const std::string &name : this->pluginNames)
{
gz::physics::EnginePtr<FeaturePolicy3d, TypeParam> engine;
gz::physics::WorldPtr<FeaturePolicy3d, TypeParam> world;
gz::physics::Engine3dPtr<FeaturesUpToEmptyModelFeature> engine;
gz::physics::World3dPtr<FeaturesUpToEmptyModelFeature> world;
this->MakeEmptyWorld(name, engine, world);

EXPECT_EQ("empty world", world->GetName());
Expand All @@ -161,22 +149,17 @@ using FeaturesUpToGetModelFromWorld = gz::physics::FeatureList<
gz::physics::GetModelFromWorld
>;

template <class T>
class ConstructEmptyWorldTestUpToGetModelFromWorld :
public ConstructEmptyWorldTest<T>{};
using ConstructEmptyWorldTestUpToGetModelFromWorldTypes =
::testing::Types<FeaturesUpToGetModelFromWorld>;
TYPED_TEST_SUITE(ConstructEmptyWorldTestUpToGetModelFromWorld,
ConstructEmptyWorldTestUpToGetModelFromWorldTypes);
using ConstructEmptyWorldTestUpToGetModelFromWorld =
ConstructEmptyWorldTest<FeaturesUpToGetModelFromWorld>;

/////////////////////////////////////////////////
TYPED_TEST(ConstructEmptyWorldTestUpToGetModelFromWorld,
ConstructUpToEmptyWorld)
TEST_F(ConstructEmptyWorldTestUpToGetModelFromWorld,
ConstructUpToEmptyWorld)
{
for (const std::string &name : this->pluginNames)
{
gz::physics::EnginePtr<FeaturePolicy3d, TypeParam> engine;
gz::physics::WorldPtr<FeaturePolicy3d, TypeParam> world;
gz::physics::Engine3dPtr<FeaturesUpToGetModelFromWorld> engine;
gz::physics::World3dPtr<FeaturesUpToGetModelFromWorld> world;
this->MakeEmptyWorld(name, engine, world);

EXPECT_EQ("empty world", world->GetName());
Expand All @@ -196,22 +179,17 @@ using FeaturesUpToEmptyNestedModelFeature = gz::physics::FeatureList<
gz::physics::GetNestedModelFromModel
>;

template <class T>
class ConstructEmptyWorldTestUpToEmptyNestedModelFeature :
public ConstructEmptyWorldTest<T>{};
using ConstructEmptyWorldTestUpToEmptyNestedModelFeatureTypes =
::testing::Types<FeaturesUpToEmptyNestedModelFeature>;
TYPED_TEST_SUITE(ConstructEmptyWorldTestUpToEmptyNestedModelFeature,
ConstructEmptyWorldTestUpToEmptyNestedModelFeatureTypes);
using ConstructEmptyWorldTestUpToEmptyNestedModelFeature =
ConstructEmptyWorldTest<FeaturesUpToEmptyNestedModelFeature>;

/////////////////////////////////////////////////
TYPED_TEST(ConstructEmptyWorldTestUpToEmptyNestedModelFeature,
ConstructUpToEmptyWorld)
TEST_F(ConstructEmptyWorldTestUpToEmptyNestedModelFeature,
ConstructUpToEmptyWorld)
{
for (const std::string &name : this->pluginNames)
{
gz::physics::EnginePtr<FeaturePolicy3d, TypeParam> engine;
gz::physics::WorldPtr<FeaturePolicy3d, TypeParam> world;
gz::physics::Engine3dPtr<FeaturesUpToEmptyNestedModelFeature> engine;
gz::physics::World3dPtr<FeaturesUpToEmptyNestedModelFeature> world;
this->MakeEmptyWorld(name, engine, world);

auto model = world->ConstructEmptyModel("empty model");
Expand All @@ -237,21 +215,16 @@ using FeaturesUpToEmptyLink = gz::physics::FeatureList<
gz::physics::ConstructEmptyLinkFeature
>;

template <class T>
class ConstructEmptyWorldTestUpToEmptyLink :
public ConstructEmptyWorldTest<T>{};
using ConstructEmptyWorldTestUpToEmptyLinkTypes =
::testing::Types<FeaturesUpToEmptyLink>;
TYPED_TEST_SUITE(ConstructEmptyWorldTestUpToEmptyLink,
ConstructEmptyWorldTestUpToEmptyLinkTypes);
using ConstructEmptyWorldTestUpToEmptyLink =
ConstructEmptyWorldTest<FeaturesUpToEmptyLink>;

/////////////////////////////////////////////////
TYPED_TEST(ConstructEmptyWorldTestUpToEmptyLink, ConstructUpToEmptyWorld)
TEST_F(ConstructEmptyWorldTestUpToEmptyLink, ConstructUpToEmptyWorld)
{
for (const std::string &name : this->pluginNames)
{
gz::physics::EnginePtr<FeaturePolicy3d, TypeParam> engine;
gz::physics::WorldPtr<FeaturePolicy3d, TypeParam> world;
gz::physics::Engine3dPtr<FeaturesUpToEmptyLink> engine;
gz::physics::World3dPtr<FeaturesUpToEmptyLink> world;
this->MakeEmptyWorld(name, engine, world);

EXPECT_EQ("empty world", world->GetName());
Expand Down Expand Up @@ -284,20 +257,16 @@ using FeaturesUpToRemove = gz::physics::FeatureList<
gz::physics::RemoveEntities
>;

template <class T>
class ConstructEmptyWorldTestUpToRemove : public ConstructEmptyWorldTest<T>{};
using ConstructEmptyWorldTestUpToRemoveTypes =
::testing::Types<FeaturesUpToRemove>;
TYPED_TEST_SUITE(ConstructEmptyWorldTestUpToRemove,
ConstructEmptyWorldTestUpToRemoveTypes);
using ConstructEmptyWorldTestUpToRemove =
ConstructEmptyWorldTest<FeaturesUpToRemove>;

/////////////////////////////////////////////////
TYPED_TEST(ConstructEmptyWorldTestUpToRemove, ConstructUpToEmptyWorld)
TEST_F(ConstructEmptyWorldTestUpToRemove, ConstructUpToEmptyWorld)
{
for (const std::string &name : this->pluginNames)
{
gz::physics::EnginePtr<FeaturePolicy3d, TypeParam> engine;
gz::physics::WorldPtr<FeaturePolicy3d, TypeParam> world;
gz::physics::Engine3dPtr<FeaturesUpToRemove> engine;
gz::physics::World3dPtr<FeaturesUpToRemove> world;
this->MakeEmptyWorld(name, engine, world);

auto model = world->ConstructEmptyModel("empty model");
Expand Down Expand Up @@ -373,22 +342,17 @@ using FeaturesUpToEmptyNestedModelFeature2 = gz::physics::FeatureList<
gz::physics::RemoveEntities
>;

template <class T>
class ConstructEmptyWorldTestUpToEmptyNestedModelFeature2 :
public ConstructEmptyWorldTest<T>{};
using ConstructEmptyWorldTestUpToEmptyNestedModelFeature2Types =
::testing::Types<FeaturesUpToEmptyNestedModelFeature2>;
TYPED_TEST_SUITE(ConstructEmptyWorldTestUpToEmptyNestedModelFeature2,
FeaturesUpToEmptyNestedModelFeature2);
using ConstructEmptyWorldTestUpToEmptyNestedModelFeature2 =
ConstructEmptyWorldTest<FeaturesUpToEmptyNestedModelFeature2>;

/////////////////////////////////////////////////
TYPED_TEST(ConstructEmptyWorldTestUpToEmptyNestedModelFeature2,
ModelByIndexWithNestedModels)
TEST_F(ConstructEmptyWorldTestUpToEmptyNestedModelFeature2,
ModelByIndexWithNestedModels)
{
for (const std::string &name : this->pluginNames)
{
gz::physics::EnginePtr<FeaturePolicy3d, TypeParam> engine;
gz::physics::WorldPtr<FeaturePolicy3d, TypeParam> world;
gz::physics::Engine3dPtr<FeaturesUpToEmptyNestedModelFeature2> engine;
gz::physics::World3dPtr<FeaturesUpToEmptyNestedModelFeature2> world;
this->MakeEmptyWorld(name, engine, world);

auto model1 = world->ConstructEmptyModel("model1");
Expand Down Expand Up @@ -418,8 +382,9 @@ TYPED_TEST(ConstructEmptyWorldTestUpToEmptyNestedModelFeature2,
int main(int argc, char *argv[])
{
::testing::InitGoogleTest(&argc, argv);
if (!ConstructEmptyWorldTest<FeaturesUpToEmptyWorld>::init(
argc, argv))
if (!gz::physics::TestLibLoader::init(argc, argv))
{
return -1;
}
return RUN_ALL_TESTS();
}