From 847b8052329a4ca745e3c9a47d3a16bd327bb754 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@student.kit.edu>
Date: Thu, 4 Apr 2019 14:51:51 +0200
Subject: [PATCH] Fixed fromAttr for vector3f
---
VirtualRobot/MJCF/elements/core/mjcf_utils.h | 4 +-
VirtualRobot/tests/VirtualRobotMjcfTest.cpp | 45 ++++++++++++++++++--
2 files changed, 43 insertions(+), 6 deletions(-)
diff --git a/VirtualRobot/MJCF/elements/core/mjcf_utils.h b/VirtualRobot/MJCF/elements/core/mjcf_utils.h
index 2d0fe19ec..fdc534e67 100644
--- a/VirtualRobot/MJCF/elements/core/mjcf_utils.h
+++ b/VirtualRobot/MJCF/elements/core/mjcf_utils.h
@@ -155,9 +155,9 @@ namespace mjcf
}
long i = 0;
- for (auto& coeff : coeffs)
+ for (const auto& coeff : coeffs)
{
- value(i) = coeff;
+ value(i++) = coeff;
}
}
diff --git a/VirtualRobot/tests/VirtualRobotMjcfTest.cpp b/VirtualRobot/tests/VirtualRobotMjcfTest.cpp
index e52e9dc40..863addcdf 100644
--- a/VirtualRobot/tests/VirtualRobotMjcfTest.cpp
+++ b/VirtualRobot/tests/VirtualRobotMjcfTest.cpp
@@ -15,9 +15,16 @@
namespace Eigen
{
+ std::ostream& operator<<(std::ostream& os, const Vector3f& rhs)
+ {
+ static const IOFormat iof(4, 0, " ", " ", "", "", "[", "]");
+ os << rhs.format(iof);
+ return os;
+ }
+
bool operator==(const Quaternionf& lhs, const Quaternionf& rhs)
{
- return lhs.isApprox(rhs, 0);
+ return lhs.isApprox(rhs);
}
std::ostream& operator<<(std::ostream& os, const Quaternionf& rhs)
@@ -27,8 +34,10 @@ namespace Eigen
}
}
-BOOST_AUTO_TEST_SUITE(VirtualRobotMjcfTest)
+#define MSG_CONVERSION(in, string, out) \
+ BOOST_TEST_MESSAGE(in << " -> '" << string << "' -> " << out)
+BOOST_AUTO_TEST_SUITE(VirtualRobotMjcfTest)
BOOST_AUTO_TEST_CASE(test_boost_lexical_cast)
{
@@ -36,7 +45,7 @@ BOOST_AUTO_TEST_CASE(test_boost_lexical_cast)
{
const std::string string = boost::lexical_cast<std::string>(in);
bool out = boost::lexical_cast<bool>(string);
- BOOST_TEST_MESSAGE(in << " -> '" << string << "' -> " << out);
+ MSG_CONVERSION(in, string, out);
BOOST_CHECK_EQUAL(in, out);
}
@@ -49,16 +58,44 @@ BOOST_AUTO_TEST_SUITE_END()
using namespace Eigen;
-BOOST_AUTO_TEST_CASE(test_attrib_conversion_vector3)
+
+BOOST_AUTO_TEST_CASE(test_parseCoeffs)
+{
+ const std::string string = "1 -3 2.4";
+ Eigen::Vector3f vector(1, -3, 2.4f);
+
+ std::vector<float> coeffs = mjcf::parseCoeffs<float>(string, ' ');
+
+ BOOST_CHECK_EQUAL(coeffs[0], vector.x());
+ BOOST_CHECK_EQUAL(coeffs[1], vector.y());
+ BOOST_CHECK_EQUAL(coeffs[2], vector.z());
+}
+
+
+BOOST_AUTO_TEST_CASE(test_attrib_conversion_vector3f)
{
Vector3f in(1, -3, 2.4f), out;
const std::string string = mjcf::toAttr(in);
mjcf::fromAttr(string, out);
+ MSG_CONVERSION(in, string, out);
BOOST_CHECK_EQUAL(in, out);
}
+BOOST_AUTO_TEST_CASE(test_attrib_conversion_quaternionf)
+{
+ Quaternionf in(AngleAxisf(1.4f, Vector3f(.5, -1, .3f).normalized())), out;
+
+ const std::string string = mjcf::toAttr(in);
+ mjcf::fromAttr(string, out);
+ MSG_CONVERSION(in, string, out);
+
+ BOOST_CHECK_EQUAL(in, out);
+}
+
+
+
struct Fixture
{
--
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