diff --git a/test/integration/model/test_model_with_frames_no_rotations/model.config b/test/integration/model/test_model_with_frames_no_rotations/model.config new file mode 100644 index 000000000..33e622b95 --- /dev/null +++ b/test/integration/model/test_model_with_frames_no_rotations/model.config @@ -0,0 +1,6 @@ + + + + test_model_with_frames + model.sdf + diff --git a/test/integration/model/test_model_with_frames_no_rotations/model.sdf b/test/integration/model/test_model_with_frames_no_rotations/model.sdf new file mode 100644 index 000000000..769175115 --- /dev/null +++ b/test/integration/model/test_model_with_frames_no_rotations/model.sdf @@ -0,0 +1,69 @@ + + + + + 0.12345 0 0 0 0 0 + + + 0 1.2345 0 0 0 0 + + + + + + + + 1.5707963267948966 + + + + + + + + 0.78539816339744828 + + + + + + 1 0 0 0 0 0 + + + 0 1 0 0 0 0 + + + 0 0 1 0 0 0 + + + + L1 + L2 + + 0 0 1 + + + 1 0 0 + + + + 0 0 1 0 0 0 + L2 + L3 + + 0 0 1 + + + + 1 0 1 0 0 0 + L3 + L4 + + + 1 0 0 0 0 0 + + 1 0 0 0 0 0 + + + + diff --git a/test/integration/model/test_nested_model_with_frames/model.sdf b/test/integration/model/test_nested_model_with_frames/model.sdf index b28a42b4f..7716ebeea 100644 --- a/test/integration/model/test_nested_model_with_frames/model.sdf +++ b/test/integration/model/test_nested_model_with_frames/model.sdf @@ -3,8 +3,8 @@ - test_model_with_frames - 0 10 0 1.570796326794895 0 0 + test_model_with_frames_no_rotations + 0 10 0 0 0 0 diff --git a/test/integration/nested_model.cc b/test/integration/nested_model.cc index bd01621f6..935345fc4 100644 --- a/test/integration/nested_model.cc +++ b/test/integration/nested_model.cc @@ -574,15 +574,15 @@ void prepareForDirectComparison(sdf::ElementPtr _worldElem) } ////////////////////////////////////////////////// -// Test parsing models with child models containg frames nested via +// Test parsing models with child models containing frames nested via // Compare parsed SDF with expected string TEST(NestedModel, NestedModelWithFramesDirectComparison) { - const std::string name = "test_model_with_frames"; + const std::string name = "test_model_with_frames_no_rotations"; const std::string modelPath = sdf::testing::TestFile("integration", "model", name); - const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, IGN_PI/2); + const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, 0); std::ostringstream stream; std::string version = "1.7"; @@ -609,8 +609,6 @@ TEST(NestedModel, NestedModelWithFramesDirectComparison) prepareForDirectComparison(worldElem); // Compare with expected output - // There is a small loss of precision (~2e-16) in poses, which is related to: - // https://github.com/ignitionrobotics/ign-math/issues/212 const std::string expectedSdfPath = sdf::testing::TestFile( "integration", "nested_model_with_frames_expected.sdf"); @@ -733,7 +731,7 @@ TEST(NestedModel, TwoLevelNestedModelWithFramesDirectComparison) const std::string modelPath = sdf::testing::TestFile( "integration", "model", name); - const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, IGN_PI/2); + const ignition::math::Pose3d model1Pose(10, 0, 0, 0, 0, 0); std::ostringstream stream; std::string version = "1.7"; @@ -767,8 +765,6 @@ TEST(NestedModel, TwoLevelNestedModelWithFramesDirectComparison) prepareForDirectComparison(worldElem); // Compare with expected output - // There is a small loss of precision (~2e-16) in poses, which is related to: - // https://github.com/ignitionrobotics/ign-math/issues/212 const std::string expectedSdfPath = sdf::testing::TestFile( "integration", "two_level_nested_model_with_frames_expected.sdf"); diff --git a/test/integration/nested_model_with_frames_expected.sdf b/test/integration/nested_model_with_frames_expected.sdf index ab4f780ac..078f6f7db 100644 --- a/test/integration/nested_model_with_frames_expected.sdf +++ b/test/integration/nested_model_with_frames_expected.sdf @@ -4,10 +4,10 @@ - 0 0 0 1.5707959999999999 0 0 + 0.12345 0 0 0 0 0 - 0 0 0 0 0.78539799999999993 0 + 0 1.2344999999999999 0 0 0 0 0 0 0 0 0 0 @@ -67,7 +67,7 @@ 1 0 0 0 0 0 - 10 0 0 0 0 1.5708 + 10 0 0 0 0 0 diff --git a/test/integration/two_level_nested_model_with_frames_expected.sdf b/test/integration/two_level_nested_model_with_frames_expected.sdf index 6728f2478..a0b97a805 100644 --- a/test/integration/two_level_nested_model_with_frames_expected.sdf +++ b/test/integration/two_level_nested_model_with_frames_expected.sdf @@ -5,10 +5,10 @@ - 0 0 0 1.5707959999999999 0 0 + 0.12345 0 0 0 0 0 - 0 0 0 0 0.78539799999999993 0 + 0 1.2344999999999999 0 0 0 0 0 0 0 0 0 0 @@ -68,9 +68,9 @@ 1 0 0 0 0 0 - 0 10 0 1.5707963267948948 0 0 + 0 10 0 0 0 0 - 10 0 0 0 0 1.5708 + 10 0 0 0 0 0