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2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 | // Copyright 2023 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// Tests for sensor plugins.
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
using SensorPluginTest = MujocoTest;
static const char* const kTOuchGridPath =
"plugin/sensor/testdata/touch_grid_test.xml";
TEST_F(SensorPluginTest, ValidAttributes) {
const std::string xml_path = GetTestDataFilePath(kTOuchGridPath);
char error[1024] = {0};
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
ASSERT_THAT(model, testing::NotNull()) << error;
int nchannel = 3;
int size_x = 6;
int size_y = 2;
EXPECT_THAT(model->sensor_dim[0], nchannel * size_x * size_y);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco
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