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Refactor Test Fixture to support different worlds #160
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Currently, the `LrauvTestFixture` allows us to only load `BuoyantTethys.sdf`. This PR refactors the test fixture. It creates two test classes: * `LrauvTestFixtureBase` - An abstract base class which contains all the common functionality. * `LrauvTestFixture` - Inherits from `LrauvTestFixtureBase` and loads the `buoyant_tethys.sdf`. Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
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Depends on #160 This PR adds a surface at z=0 to the default `buoyant_tethy.sdf`. Most things work as expected. I had to move the MassShifter test deeper underwater as the vehicle would not pitch enough at the surface (kind of expected I guess?). I moved the mass shifter test deeper under water. Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
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Depends on #161, #160 This PR validates the behaviour of the dropweight with the surface of the water. It modifies the drop weight test such that the vehicle is started at a 10m depth and we monitor its rise. The test makes sure that we do not exceed a height of 0.5m (this tolerance is required to account for the oscillations introduces by the transition). Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
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| // Documentation inherited | ||
| protected: void SetUp() override | ||
| // Setup the specified world. | ||
| // \param[in] _worldName Name of the world to load. |
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| // \param[in] _worldName Name of the world to load. | |
| /// \param[in] _worldName Name of the world to load. |
| /// \brief Loads the default "buyant_tethys.sdf" world. | ||
| class LrauvTestFixture : public LrauvTestFixtureBase | ||
| { | ||
| /// Documentation inherited |
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| /// Documentation inherited | |
| // Documentation inherited |
So, within the Ignition codebase, we leave "Documentation inherited" comments to explain that we're not adding documentation on purpose. When it's not added, the documentation is taken from the base class. But if the comment is added with three ///, then that actually overrides the base class' doc block and writes "Documentation inherited" as the documentation.
Not important here since we're not generating docs for these classes, but I thought I should mention
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
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Currently, the
LrauvTestFixtureallows us to only loadBuoyantTethys.sdf. This PR refactors the test fixture. It creates two test classes:LrauvTestFixtureBase- An abstract base class which contains all the common functionality.LrauvTestFixture- Inherits fromLrauvTestFixtureBaseand loads thebuoyant_tethys.sdf.